mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
127 lines
4.5 KiB
Python
127 lines
4.5 KiB
Python
#
|
|
# MIT License
|
|
#
|
|
# Copyright (c) PhotonVision
|
|
#
|
|
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
# of this software and associated documentation files (the "Software"), to deal
|
|
# in the Software without restriction, including without limitation the rights
|
|
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
# copies of the Software, and to permit persons to whom the Software is
|
|
# furnished to do so, subject to the following conditions:
|
|
#
|
|
# The above copyright notice and this permission notice shall be included in all
|
|
# copies or substantial portions of the Software.
|
|
#
|
|
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
|
# SOFTWARE.
|
|
#
|
|
|
|
###############################################################################
|
|
## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
|
|
## --> DO NOT MODIFY <--
|
|
###############################################################################
|
|
|
|
from typing import TYPE_CHECKING
|
|
|
|
from ..packet import Packet
|
|
from ..targeting import * # noqa
|
|
|
|
if TYPE_CHECKING:
|
|
from ..targeting import PhotonTrackedTarget # noqa
|
|
from ..targeting import TargetCorner # noqa
|
|
|
|
|
|
class PhotonTrackedTargetSerde:
|
|
# Message definition md5sum. See photon_packet.adoc for details
|
|
MESSAGE_VERSION = "cc6dbb5c5c1e0fa808108019b20863f1"
|
|
MESSAGE_FORMAT = "float64 yaw;float64 pitch;float64 area;float64 skew;int32 fiducialId;int32 objDetectId;float32 objDetectConf;Transform3d bestCameraToTarget;Transform3d altCameraToTarget;float64 poseAmbiguity;TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 minAreaRectCorners[?];TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 detectedCorners[?];"
|
|
|
|
@staticmethod
|
|
def pack(value: "PhotonTrackedTarget") -> "Packet":
|
|
ret = Packet()
|
|
|
|
# yaw is of intrinsic type float64
|
|
ret.encodeDouble(value.yaw)
|
|
|
|
# pitch is of intrinsic type float64
|
|
ret.encodeDouble(value.pitch)
|
|
|
|
# area is of intrinsic type float64
|
|
ret.encodeDouble(value.area)
|
|
|
|
# skew is of intrinsic type float64
|
|
ret.encodeDouble(value.skew)
|
|
|
|
# fiducialId is of intrinsic type int32
|
|
ret.encodeInt(value.fiducialId)
|
|
|
|
# objDetectId is of intrinsic type int32
|
|
ret.encodeInt(value.objDetectId)
|
|
|
|
# objDetectConf is of intrinsic type float32
|
|
ret.encodeFloat(value.objDetectConf)
|
|
|
|
ret.encodeTransform(value.bestCameraToTarget)
|
|
|
|
ret.encodeTransform(value.altCameraToTarget)
|
|
|
|
# poseAmbiguity is of intrinsic type float64
|
|
ret.encodeDouble(value.poseAmbiguity)
|
|
|
|
# minAreaRectCorners is a custom VLA!
|
|
ret.encodeList(value.minAreaRectCorners, TargetCorner.photonStruct)
|
|
|
|
# detectedCorners is a custom VLA!
|
|
ret.encodeList(value.detectedCorners, TargetCorner.photonStruct)
|
|
return ret
|
|
|
|
@staticmethod
|
|
def unpack(packet: "Packet") -> "PhotonTrackedTarget":
|
|
ret = PhotonTrackedTarget()
|
|
|
|
# yaw is of intrinsic type float64
|
|
ret.yaw = packet.decodeDouble()
|
|
|
|
# pitch is of intrinsic type float64
|
|
ret.pitch = packet.decodeDouble()
|
|
|
|
# area is of intrinsic type float64
|
|
ret.area = packet.decodeDouble()
|
|
|
|
# skew is of intrinsic type float64
|
|
ret.skew = packet.decodeDouble()
|
|
|
|
# fiducialId is of intrinsic type int32
|
|
ret.fiducialId = packet.decodeInt()
|
|
|
|
# objDetectId is of intrinsic type int32
|
|
ret.objDetectId = packet.decodeInt()
|
|
|
|
# objDetectConf is of intrinsic type float32
|
|
ret.objDetectConf = packet.decodeFloat()
|
|
|
|
ret.bestCameraToTarget = packet.decodeTransform()
|
|
|
|
ret.altCameraToTarget = packet.decodeTransform()
|
|
|
|
# poseAmbiguity is of intrinsic type float64
|
|
ret.poseAmbiguity = packet.decodeDouble()
|
|
|
|
# minAreaRectCorners is a custom VLA!
|
|
ret.minAreaRectCorners = packet.decodeList(TargetCorner.photonStruct)
|
|
|
|
# detectedCorners is a custom VLA!
|
|
ret.detectedCorners = packet.decodeList(TargetCorner.photonStruct)
|
|
|
|
return ret
|
|
|
|
|
|
# Hack ourselves into the base class
|
|
PhotonTrackedTarget.photonStruct = PhotonTrackedTargetSerde()
|