mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
59 lines
1.7 KiB
Python
59 lines
1.7 KiB
Python
from dataclasses import dataclass, field
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from wpimath.geometry import Transform3d
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from ..packet import Packet
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from .TargetCorner import TargetCorner
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@dataclass
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class PhotonTrackedTarget:
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yaw: float = 0.0
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pitch: float = 0.0
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area: float = 0.0
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skew: float = 0.0
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fiducialId: int = -1
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bestCameraToTarget: Transform3d = field(default_factory=Transform3d)
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altCameraToTarget: Transform3d = field(default_factory=Transform3d)
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minAreaRectCorners: list[TargetCorner] | None = None
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detectedCorners: list[TargetCorner] | None = None
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poseAmbiguity: float = 0.0
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def getYaw(self) -> float:
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return self.yaw
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def getPitch(self) -> float:
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return self.pitch
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def getArea(self) -> float:
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return self.area
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def getSkew(self) -> float:
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return self.skew
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def getFiducialId(self) -> int:
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return self.fiducialId
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def getPoseAmbiguity(self) -> float:
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return self.poseAmbiguity
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def getMinAreaRectCorners(self) -> list[TargetCorner] | None:
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return self.minAreaRectCorners
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def getDetectedCorners(self) -> list[TargetCorner] | None:
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return self.detectedCorners
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def getBestCameraToTarget(self) -> Transform3d:
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return self.bestCameraToTarget
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def getAlternateCameraToTarget(self) -> Transform3d:
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return self.altCameraToTarget
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def _decodeTargetList(self, packet: Packet, numTargets: int) -> list[TargetCorner]:
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retList = []
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for _ in range(numTargets):
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cx = packet.decodeDouble()
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cy = packet.decodeDouble()
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retList.append(TargetCorner(cx, cy))
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return retList
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photonStruct: "PhotonTrackedTargetSerde" = None
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