Expose object detection class id/conf in photonlib (#1266)

* Implement class id/conf in photonlib

* Maybe fix things

* run lint

* Update Packet.java comments

* Update Packet.java comments again

* Update comments

* oops

* Update packet.py

---------

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>

photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp

@@ -28,9 +28,9 @@ static constexpr const uint8_t MAX_CORNERS = 8;
 namespace photon {
 
 PhotonTrackedTarget::PhotonTrackedTarget(
-    double yaw, double pitch, double area, double skew, int id,
-    const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
-    double ambiguity,
+    double yaw, double pitch, double area, double skew, int id, int objdetid,
+    float objdetconf, const frc::Transform3d& pose,
+    const frc::Transform3d& alternatePose, double ambiguity,
     const wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners,
     const std::vector<std::pair<double, double>> detectedCorners)
     : yaw(yaw),
@@ -38,6 +38,8 @@ PhotonTrackedTarget::PhotonTrackedTarget(
       area(area),
       skew(skew),
       fiducialId(id),
+      objDetectId(objdetid),
+      objDetectConf(objdetconf),
       bestCameraToTarget(pose),
       altCameraToTarget(alternatePose),
       poseAmbiguity(ambiguity),
@@ -47,12 +49,14 @@ PhotonTrackedTarget::PhotonTrackedTarget(
 bool PhotonTrackedTarget::operator==(const PhotonTrackedTarget& other) const {
   return other.yaw == yaw && other.pitch == pitch && other.area == area &&
          other.skew == skew && other.bestCameraToTarget == bestCameraToTarget &&
+         other.objDetectConf == objDetectConf &&
+         other.objDetectId == objDetectId &&
          other.minAreaRectCorners == minAreaRectCorners;
 }
 
 Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target) {
   packet << target.yaw << target.pitch << target.area << target.skew
-         << target.fiducialId
+         << target.fiducialId << target.objDetectId << target.objDetectConf
          << target.bestCameraToTarget.Translation().X().value()
          << target.bestCameraToTarget.Translation().Y().value()
          << target.bestCameraToTarget.Translation().Z().value()
@@ -87,7 +91,7 @@ Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target) {
 
 Packet& operator>>(Packet& packet, PhotonTrackedTarget& target) {
   packet >> target.yaw >> target.pitch >> target.area >> target.skew >>
-      target.fiducialId;
+      target.fiducialId >> target.objDetectId >> target.objDetectConf;
 
   // We use these for best and alt transforms below
   double x = 0;

photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp

@@ -47,6 +47,8 @@ photon::PhotonTrackedTarget wpi::Protobuf<photon::PhotonTrackedTarget>::Unpack(
       m->area(),
       m->skew(),
       m->fiducial_id(),
+      m->obj_detection_id(),
+      m->obj_detection_conf(),
       wpi::UnpackProtobuf<frc::Transform3d>(m->best_camera_to_target()),
       wpi::UnpackProtobuf<frc::Transform3d>(m->alt_camera_to_target()),
       m->pose_ambiguity(),
@@ -63,6 +65,8 @@ void wpi::Protobuf<photon::PhotonTrackedTarget>::Pack(
   m->set_area(value.area);
   m->set_skew(value.skew);
   m->set_fiducial_id(value.fiducialId);
+  m->set_obj_detection_id(value.objDetectId);
+  m->set_obj_detection_conf(value.objDetectConf);
   wpi::PackProtobuf(m->mutable_best_camera_to_target(),
                     value.bestCameraToTarget);
   wpi::PackProtobuf(m->mutable_alt_camera_to_target(), value.altCameraToTarget);

photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h

@@ -51,8 +51,8 @@ class PhotonTrackedTarget {
    */
   PhotonTrackedTarget(
       double yaw, double pitch, double area, double skew, int fiducialID,
-      const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
-      double ambiguity,
+      int objDetectCassId, float objDetectConf, const frc::Transform3d& pose,
+      const frc::Transform3d& alternatePose, double ambiguity,
       const wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners,
       const std::vector<std::pair<double, double>> detectedCorners);
 
@@ -86,6 +86,18 @@ class PhotonTrackedTarget {
    */
   int GetFiducialId() const { return fiducialId; }
 
+  /**
+   * Get the Fiducial ID of the target currently being tracked,
+   * or -1 if not set.
+   */
+  int GetDetectedObjectClassID() const { return objDetectId; }
+
+  /**
+   * Get the object detection confidence, or -1 if not set. This will be between
+   * 0 and 1, with 1 indicating most confidence, and 0 least.
+   */
+  float GetDetectedObjectConfidence() const { return objDetectConf; }
+
   /**
    * Return a list of the 4 corners in image space (origin top left, x right, y
    * down), in no particular order, of the minimum area bounding rectangle of
@@ -147,6 +159,8 @@ class PhotonTrackedTarget {
   double area = 0;
   double skew = 0;
   int fiducialId;
+  int objDetectId;
+  float objDetectConf;
   frc::Transform3d bestCameraToTarget;
   frc::Transform3d altCameraToTarget;
   double poseAmbiguity;