photon::PhotonTrackedTarget Class Reference

Represents a tracked target within a pipeline. More...

#include <photon/targeting/PhotonTrackedTarget.h>

Inheritance diagram for photon::PhotonTrackedTarget:

Public Member Functions
	PhotonTrackedTarget ()=default
	PhotonTrackedTarget (Base &&data)
template<typename... Args>
	PhotonTrackedTarget (Args &&... args)
double	GetYaw () const
	Returns the target yaw (positive-left).
double	GetPitch () const
	Returns the target pitch (positive-up)
double	GetArea () const
	Returns the target area (0-100).
double	GetSkew () const
	Returns the target skew (counter-clockwise positive).
int	GetFiducialId () const
	Get the Fiducial ID of the target currently being tracked, or -1 if not set.
int	GetDetectedObjectClassID () const
	Get the Fiducial ID of the target currently being tracked, or -1 if not set.
float	GetDetectedObjectConfidence () const
	Get the object detection confidence, or -1 if not set.
const std::vector< photon::TargetCorner > &	GetMinAreaRectCorners () const
	Return a list of the 4 corners in image space (origin top left, x right, y down), in no particular order, of the minimum area bounding rectangle of this target.
const std::vector< photon::TargetCorner > &	GetDetectedCorners () const
	Return a list of the n corners in image space (origin top left, x right, y down), in no particular order, detected for this target.
double	GetPoseAmbiguity () const
	Get the ratio of best:alternate pose reprojection errors, called ambiguity.
frc::Transform3d	GetBestCameraToTarget () const
	Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag space (X forward, Y left, Z up) with the lowest reprojection error.
frc::Transform3d	GetAlternateCameraToTarget () const
	Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag space (X forward, Y left, Z up) with the highest reprojection error.

Friends
bool	operator== (PhotonTrackedTarget const &, PhotonTrackedTarget const &)=default

Additional Inherited Members
Public Attributes inherited from photon::PhotonTrackedTarget_PhotonStruct
double	yaw
double	pitch
double	area
double	skew
int32_t	fiducialId
int32_t	objDetectId
float	objDetectConf
frc::Transform3d	bestCameraToTarget
frc::Transform3d	altCameraToTarget
double	poseAmbiguity
std::vector< photon::TargetCorner >	minAreaRectCorners
std::vector< photon::TargetCorner >	detectedCorners

Detailed Description

Represents a tracked target within a pipeline.

Constructor & Destructor Documentation

PhotonTrackedTarget() [1/3]

photon::PhotonTrackedTarget::PhotonTrackedTarget ( )

default

PhotonTrackedTarget() [2/3]

photon::PhotonTrackedTarget::PhotonTrackedTarget ( Base && data )

inlineexplicit

PhotonTrackedTarget() [3/3]

template<typename... Args>

photon::PhotonTrackedTarget::PhotonTrackedTarget ( Args &&... args )

inlineexplicit

Member Function Documentation

GetAlternateCameraToTarget()

frc::Transform3d photon::PhotonTrackedTarget::GetAlternateCameraToTarget ( ) const

inline

Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag space (X forward, Y left, Z up) with the highest reprojection error.

GetArea()

double photon::PhotonTrackedTarget::GetArea ( ) const

inline

Returns the target area (0-100).

Returns

The target area.

GetBestCameraToTarget()

frc::Transform3d photon::PhotonTrackedTarget::GetBestCameraToTarget ( ) const

inline

Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag space (X forward, Y left, Z up) with the lowest reprojection error.

The ratio between this and the alternate target's reprojection error is the ambiguity, which is between 0 and 1.

Returns

The pose of the target relative to the robot.

GetDetectedCorners()

const std::vector< photon::TargetCorner > & photon::PhotonTrackedTarget::GetDetectedCorners ( ) const

inline

Return a list of the n corners in image space (origin top left, x right, y down), in no particular order, detected for this target.

For fiducials, the order is known and is always counter-clock wise around the tag, like so

-> +X 3 --— 2 | | | V + Y | | 0 --— 1

GetDetectedObjectClassID()

int photon::PhotonTrackedTarget::GetDetectedObjectClassID ( ) const

inline

Get the Fiducial ID of the target currently being tracked, or -1 if not set.

GetDetectedObjectConfidence()

float photon::PhotonTrackedTarget::GetDetectedObjectConfidence ( ) const

inline

Get the object detection confidence, or -1 if not set.

This will be between 0 and 1, with 1 indicating most confidence, and 0 least.

GetFiducialId()

int photon::PhotonTrackedTarget::GetFiducialId ( ) const

inline

Get the Fiducial ID of the target currently being tracked, or -1 if not set.

GetMinAreaRectCorners()

const std::vector< photon::TargetCorner > & photon::PhotonTrackedTarget::GetMinAreaRectCorners ( ) const

inline

Return a list of the 4 corners in image space (origin top left, x right, y down), in no particular order, of the minimum area bounding rectangle of this target.

GetPitch()

double photon::PhotonTrackedTarget::GetPitch ( ) const

inline

Returns the target pitch (positive-up)

Returns

The target pitch.

GetPoseAmbiguity()

double photon::PhotonTrackedTarget::GetPoseAmbiguity ( ) const

inline

Get the ratio of best:alternate pose reprojection errors, called ambiguity.

This is between 0 and 1 (0 being no ambiguity, and 1 meaning both have the same reprojection error). Numbers above 0.2 are likely to be ambiguous. -1 if invalid.

GetSkew()

double photon::PhotonTrackedTarget::GetSkew ( ) const

inline

Returns the target skew (counter-clockwise positive).

Returns

The target skew.

GetYaw()

double photon::PhotonTrackedTarget::GetYaw ( ) const

inline

Returns the target yaw (positive-left).

Returns

The target yaw.

Friends And Related Symbol Documentation

operator==

bool operator== ( PhotonTrackedTarget const & , PhotonTrackedTarget const &  )

friend

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The documentation for this class was generated from the following file:

• photon/targeting/PhotonTrackedTarget.h