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Expose detected tag corners (#702)

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Removes GetCorners, replaces with getMinAreaRectCorners and getDetectedCorners
This commit is contained in:
Matt
2023-01-06 19:20:27 -08:00
committed by GitHub
parent 16ca2671f0
commit 967be84b4b
10 changed files with 291 additions and 48 deletions
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26
photon-lib/src/main/native/include/photonlib/PhotonTrackedTarget.h
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@@ -92,10 +92,27 @@ class PhotonTrackedTarget {
int GetFiducialId() const { return fiducialId; }
/**
* Returns the corners of the minimum area rectangle bounding this target.
* 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
* this target
*/
wpi::SmallVector<std::pair<double, double>, 4> GetCorners() const {
return corners;
wpi::SmallVector<std::pair<double, double>, 4> GetMinAreaRectCorners() const {
return minAreaRectCorners;
}
/**
* Return a list of the n corners in image space (origin top left, x right, y
* down), in no particular order, detected for this target.
* For fiducials, the order is known and is always counter-clock wise around
* the tag, like so
*
* -> +X 3 ----- 2
* | | |
* V + Y | |
* 0 ----- 1
*/
std::vector<std::pair<double, double>> GetDetectedCorners() {
return detectedCorners;
}
/**
@@ -137,6 +154,7 @@ class PhotonTrackedTarget {
frc::Transform3d bestCameraToTarget;
frc::Transform3d altCameraToTarget;
double poseAmbiguity;
wpi::SmallVector<std::pair<double, double>, 4> corners;
wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners;
std::vector<std::pair<double, double>> detectedCorners;
};
} // namespace photonlib