photon::OpenCVHelp Namespace Reference

Functions
static std::vector< cv::Point2f >	GetConvexHull (const std::vector< cv::Point2f > &points)
static cv::RotatedRect	GetMinAreaRect (const std::vector< cv::Point2f > &points)
static frc::Translation3d	TranslationNWUtoEDN (const frc::Translation3d &trl)
static frc::Rotation3d	RotationNWUtoEDN (const frc::Rotation3d &rot)
static std::vector< cv::Point3f >	TranslationToTVec (const std::vector< frc::Translation3d > &translations)
static std::vector< cv::Point3f >	RotationToRVec (const frc::Rotation3d &rotation)
static cv::Point2f	AvgPoint (std::vector< cv::Point2f > points)
static std::vector< photon::TargetCorner >	PointsToTargetCorners (const std::vector< cv::Point2f > &points)
static std::vector< std::pair< float, float > >	PointsToCorners (const std::vector< cv::Point2f > &points)
static std::vector< cv::Point2f >	CornersToPoints (const std::vector< std::pair< float, float > > &corners)
static std::vector< cv::Point2f >	CornersToPoints (const std::vector< photon::TargetCorner > &corners)
static cv::Rect	GetBoundingRect (const std::vector< cv::Point2f > &points)
static std::vector< cv::Point2f >	ProjectPoints (const Eigen::Matrix< double, 3, 3 > &cameraMatrix, const Eigen::Matrix< double, 8, 1 > &distCoeffs, const RotTrlTransform3d &camRt, const std::vector< frc::Translation3d > &objectTranslations)
template<typename T >
static std::vector< T >	ReorderCircular (const std::vector< T > elements, bool backwards, int shiftStart)
static frc::Translation3d	TranslationEDNToNWU (const frc::Translation3d &trl)
static frc::Rotation3d	RotationEDNToNWU (const frc::Rotation3d &rot)
static frc::Translation3d	TVecToTranslation (const cv::Mat &tvecInput)
static frc::Rotation3d	RVecToRotation (const cv::Mat &rvecInput)
static std::optional< photon::PnpResult >	SolvePNP_Square (const Eigen::Matrix< double, 3, 3 > &cameraMatrix, const Eigen::Matrix< double, 8, 1 > &distCoeffs, std::vector< frc::Translation3d > modelTrls, std::vector< cv::Point2f > imagePoints)
static std::optional< photon::PnpResult >	SolvePNP_SQPNP (const Eigen::Matrix< double, 3, 3 > &cameraMatrix, const Eigen::Matrix< double, 8, 1 > &distCoeffs, std::vector< frc::Translation3d > modelTrls, std::vector< cv::Point2f > imagePoints)

Variables
static frc::Rotation3d	NWU_TO_EDN
static frc::Rotation3d	EDN_TO_NWU

Function Documentation

AvgPoint()

static cv::Point2f photon::OpenCVHelp::AvgPoint ( std::vector< cv::Point2f > points )

static

CornersToPoints() [1/2]

static std::vector< cv::Point2f > photon::OpenCVHelp::CornersToPoints ( const std::vector< photon::TargetCorner > & corners )

static

CornersToPoints() [2/2]

static std::vector< cv::Point2f > photon::OpenCVHelp::CornersToPoints ( const std::vector< std::pair< float, float > > & corners )

static

GetBoundingRect()

static cv::Rect photon::OpenCVHelp::GetBoundingRect ( const std::vector< cv::Point2f > & points )

static

GetConvexHull()

static std::vector< cv::Point2f > photon::OpenCVHelp::GetConvexHull ( const std::vector< cv::Point2f > & points )

static

GetMinAreaRect()

static cv::RotatedRect photon::OpenCVHelp::GetMinAreaRect ( const std::vector< cv::Point2f > & points )

static

PointsToCorners()

static std::vector< std::pair< float, float > > photon::OpenCVHelp::PointsToCorners ( const std::vector< cv::Point2f > & points )

static

PointsToTargetCorners()

static std::vector< photon::TargetCorner > photon::OpenCVHelp::PointsToTargetCorners ( const std::vector< cv::Point2f > & points )

static

ProjectPoints()

static std::vector< cv::Point2f > photon::OpenCVHelp::ProjectPoints ( const Eigen::Matrix< double, 3, 3 > & cameraMatrix, const Eigen::Matrix< double, 8, 1 > & distCoeffs, const RotTrlTransform3d & camRt, const std::vector< frc::Translation3d > & objectTranslations )

static

ReorderCircular()

template<typename T >

static std::vector< T > photon::OpenCVHelp::ReorderCircular ( const std::vector< T > elements, bool backwards, int shiftStart )

static

RotationEDNToNWU()

static frc::Rotation3d photon::OpenCVHelp::RotationEDNToNWU ( const frc::Rotation3d & rot )

static

RotationNWUtoEDN()

static frc::Rotation3d photon::OpenCVHelp::RotationNWUtoEDN ( const frc::Rotation3d & rot )

static

RotationToRVec()

static std::vector< cv::Point3f > photon::OpenCVHelp::RotationToRVec ( const frc::Rotation3d & rotation )

static

RVecToRotation()

static frc::Rotation3d photon::OpenCVHelp::RVecToRotation ( const cv::Mat & rvecInput )

static

SolvePNP_SQPNP()

static std::optional< photon::PnpResult > photon::OpenCVHelp::SolvePNP_SQPNP ( const Eigen::Matrix< double, 3, 3 > & cameraMatrix, const Eigen::Matrix< double, 8, 1 > & distCoeffs, std::vector< frc::Translation3d > modelTrls, std::vector< cv::Point2f > imagePoints )

static

SolvePNP_Square()

static std::optional< photon::PnpResult > photon::OpenCVHelp::SolvePNP_Square ( const Eigen::Matrix< double, 3, 3 > & cameraMatrix, const Eigen::Matrix< double, 8, 1 > & distCoeffs, std::vector< frc::Translation3d > modelTrls, std::vector< cv::Point2f > imagePoints )

static

TranslationEDNToNWU()

static frc::Translation3d photon::OpenCVHelp::TranslationEDNToNWU ( const frc::Translation3d & trl )

static

TranslationNWUtoEDN()

static frc::Translation3d photon::OpenCVHelp::TranslationNWUtoEDN ( const frc::Translation3d & trl )

static

TranslationToTVec()

static std::vector< cv::Point3f > photon::OpenCVHelp::TranslationToTVec ( const std::vector< frc::Translation3d > & translations )

static

TVecToTranslation()

static frc::Translation3d photon::OpenCVHelp::TVecToTranslation ( const cv::Mat & tvecInput )

static

Variable Documentation

EDN_TO_NWU

frc::Rotation3d photon::OpenCVHelp::EDN_TO_NWU

static

Initial value:

{
    (Eigen::Matrix3d() << 0, 0, 1, -1, 0, 0, 0, -1, 0).finished()}

NWU_TO_EDN

frc::Rotation3d photon::OpenCVHelp::NWU_TO_EDN

static

Initial value:

{
    (Eigen::Matrix3d() << 0, -1, 0, 0, 0, -1, 1, 0, 0).finished()}