mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
46 lines
1.3 KiB
C++
46 lines
1.3 KiB
C++
/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <frc/geometry/Transform3d.h>
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#include "photon/dataflow/structures/Packet.h"
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namespace photon {
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class PNPResult {
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public:
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// This could be wrapped in an std::optional, but chose to do it this way to
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// mirror Java
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bool isPresent{false};
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frc::Transform3d best{};
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double bestReprojErr{0};
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frc::Transform3d alt{};
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double altReprojErr{0};
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double ambiguity{0};
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bool operator==(const PNPResult& other) const;
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friend Packet& operator<<(Packet& packet, const PNPResult& target);
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friend Packet& operator>>(Packet& packet, PNPResult& target);
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};
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} // namespace photon
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