mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
61 lines
2.0 KiB
C++
61 lines
2.0 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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#include "photon/targeting/proto/MultiTargetPNPResultProto.h"
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#include <vector>
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#include "photon.pb.h"
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#include "photon/targeting/proto/PNPResultProto.h"
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google::protobuf::Message* wpi::Protobuf<photon::MultiTargetPNPResult>::New(
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google::protobuf::Arena* arena) {
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return google::protobuf::Arena::CreateMessage<
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photonvision::proto::ProtobufMultiTargetPNPResult>(arena);
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}
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photon::MultiTargetPNPResult
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wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(
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const google::protobuf::Message& msg) {
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auto m =
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static_cast<const photonvision::proto::ProtobufMultiTargetPNPResult*>(
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&msg);
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std::vector<int16_t> fiducialIdsUsed;
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fiducialIdsUsed.reserve(32);
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for (int i = 0; i < m->fiducial_ids_used_size(); i++) {
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fiducialIdsUsed.push_back(m->fiducial_ids_used(i));
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}
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return photon::MultiTargetPNPResult{photon::MultiTargetPNPResult_PhotonStruct{
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wpi::UnpackProtobuf<photon::PnpResult>(m->estimated_pose()),
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fiducialIdsUsed}};
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}
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void wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(
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google::protobuf::Message* msg, const photon::MultiTargetPNPResult& value) {
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auto m = static_cast<photonvision::proto::ProtobufMultiTargetPNPResult*>(msg);
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wpi::PackProtobuf(m->mutable_estimated_pose(), value.estimatedPose);
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m->clear_fiducial_ids_used();
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for (const auto& t : value.fiducialIDsUsed) {
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m->add_fiducial_ids_used(t);
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}
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}
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