mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
114 lines
3.3 KiB
C++
114 lines
3.3 KiB
C++
/*
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* MIT License
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*
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* Copyright (c) 2022 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
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* all 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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#pragma once
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#include <cstddef>
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#include <string>
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#include <utility>
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#include <vector>
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#include <frc/geometry/Transform2d.h>
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#include <wpi/SmallVector.h>
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#include "photonlib/Packet.h"
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namespace photonlib {
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/**
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* Represents a tracked target within a pipeline.
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*/
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class PhotonTrackedTarget {
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public:
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/**
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* Constructs an empty target.
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*/
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PhotonTrackedTarget() = default;
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/**
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* Constructs a target.
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* @param yaw The yaw of the target.
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* @param pitch The pitch of the target.
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* @param area The area of the target.
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* @param skew The skew of the target.
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* @param pose The camera-relative pose of the target.
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* @Param corners The corners of the bounding rectangle.
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*/
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PhotonTrackedTarget(
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double yaw, double pitch, double area, double skew,
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const frc::Transform2d& pose,
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const wpi::SmallVector<std::pair<double, double>, 4> corners);
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/**
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* Returns the target yaw (positive-left).
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* @return The target yaw.
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*/
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double GetYaw() const { return yaw; }
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/**
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* Returns the target pitch (positive-up)
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* @return The target pitch.
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*/
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double GetPitch() const { return pitch; }
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/**
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* Returns the target area (0-100).
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* @return The target area.
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*/
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double GetArea() const { return area; }
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/**
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* Returns the target skew (counter-clockwise positive).
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* @return The target skew.
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*/
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double GetSkew() const { return skew; }
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/**
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* Returns the corners of the minimum area rectangle bounding this target.
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*/
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wpi::SmallVector<std::pair<double, double>, 4> GetCorners() const {
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return corners;
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}
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/**
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* Returns the pose of the target relative to the robot.
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* @return The pose of the target relative to the robot.
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*/
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frc::Transform2d GetCameraRelativePose() const { return cameraToTarget; }
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bool operator==(const PhotonTrackedTarget& other) const;
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bool operator!=(const PhotonTrackedTarget& other) const;
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friend Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target);
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friend Packet& operator>>(Packet& packet, PhotonTrackedTarget& target);
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private:
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double yaw = 0;
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double pitch = 0;
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double area = 0;
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double skew = 0;
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frc::Transform2d cameraToTarget;
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wpi::SmallVector<std::pair<double, double>, 4> corners;
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};
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} // namespace photonlib
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