mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
6d2eae7f20
This adds a regex that ignores cameras if they match it, for if you have another piece of software running that needs a second camera, or if you have a webcam in your laptop that cscore hates.
75 lines
2.6 KiB
Java
75 lines
2.6 KiB
Java
/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package org.photonvision.estimation;
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import edu.wpi.first.math.geometry.Transform3d;
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/**
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* The best estimated transformation from solvePnP, and possibly an alternate transformation
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* depending on the solvePNP method. If an alternate solution is present, the ambiguity value
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* represents the ratio of reprojection error in the best solution to the alternate (best /
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* alternate).
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*
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* <p>Note that the coordinate frame of these transforms depends on the implementing solvePnP
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* method.
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*/
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public class PNPResults {
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public final Transform3d best;
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public final double bestReprojErr;
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/**
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* Alternate, ambiguous solution from solvepnp. If no alternate solution is found, this is equal
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* to the best solution.
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*/
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public final Transform3d alt;
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/** If no alternate solution is found, this is bestReprojErr */
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public final double altReprojErr;
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/** If no alternate solution is found, this is 0 */
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public final double ambiguity;
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public PNPResults() {
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this(new Transform3d(), new Transform3d(), 0, 0, 0);
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}
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public PNPResults(Transform3d best, double bestReprojErr) {
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this(best, best, 0, bestReprojErr, bestReprojErr);
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}
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public PNPResults(
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Transform3d best,
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Transform3d alt,
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double ambiguity,
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double bestReprojErr,
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double altReprojErr) {
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this.best = best;
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this.alt = alt;
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this.ambiguity = ambiguity;
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this.bestReprojErr = bestReprojErr;
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this.altReprojErr = altReprojErr;
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}
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}
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