Describes a vision target located somewhere on the field that your vision system can detect.
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#include <photon/simulation/VisionTargetSim.h>
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| | VisionTargetSim (const wpi::math::Pose3d &pose, const TargetModel &model) |
| | Describes a retro-reflective/colored shape vision target located somewhere on the field that your vision system can detect.
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| | VisionTargetSim (const wpi::math::Pose3d &pose, const TargetModel &model, int id) |
| | Describes a fiducial tag located somewhere on the field that your vision system can detect.
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| | VisionTargetSim (const wpi::math::Pose3d &pose, const TargetModel &model, int objDetClassId, float objDetConf) |
| | Describes an object-detection vision target located somewhere on the field that your vision system can detect.
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| void | SetPose (const wpi::math::Pose3d &newPose) |
| | Sets the pose of this target on the field.
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| void | SetModel (const TargetModel &newModel) |
| | Sets the model describing this target's geometry.
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| wpi::math::Pose3d | GetPose () const |
| | Returns the pose of this target on the field.
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| TargetModel | GetModel () const |
| | Returns the model describing this target's geometry.
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| int | GetFiducialId () const |
| | Returns the fiducial ID of this target, or -1 if not a fiducial target.
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| int | GetObjDetClassId () const |
| | Returns the object detection class ID of this target, or -1 if not an object detection target.
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| float | GetObjDetConf () const |
| | Returns the object detection confidence of this target, or -1 if confidence is estimated from target area or is not an object.
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| std::vector< wpi::math::Translation3d > | GetFieldVertices () const |
| | This target's vertices offset from its field pose.
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| bool | operator< (const VisionTargetSim &right) const |
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| bool | operator== (const VisionTargetSim &other) const |
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Describes a vision target located somewhere on the field that your vision system can detect.
◆ VisionTargetSim() [1/3]
| photon::VisionTargetSim::VisionTargetSim |
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const wpi::math::Pose3d & | pose, |
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const TargetModel & | model ) |
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Describes a retro-reflective/colored shape vision target located somewhere on the field that your vision system can detect.
- Parameters
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| pose | Pose3d of the tag in field-relative coordinates |
| model | TargetModel which describes the geometry of the target |
◆ VisionTargetSim() [2/3]
| photon::VisionTargetSim::VisionTargetSim |
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const wpi::math::Pose3d & | pose, |
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const TargetModel & | model, |
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int | id ) |
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Describes a fiducial tag located somewhere on the field that your vision system can detect.
- Parameters
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| pose | Pose3d of the tag in field-relative coordinates |
| model | TargetModel which describes the geometry of the target(tag) |
| id | The ID of this fiducial tag |
◆ VisionTargetSim() [3/3]
| photon::VisionTargetSim::VisionTargetSim |
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const wpi::math::Pose3d & | pose, |
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const TargetModel & | model, |
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int | objDetClassId, |
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float | objDetConf ) |
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Describes an object-detection vision target located somewhere on the field that your vision system can detect.
Class ID is the (zero-indexed) index of the object's class ID in the list of all classes. Confidence can be specified, or pass -1 to estimate confidence based on 2 * sqrt(target area / total image area)
- Parameters
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| pose | Pose3d of the target in field-relative coordinates |
| model | TargetModel which describes the geometry of the target |
| objDetClassId | The object detection class ID, if -1 it will not be detected by object detection |
| objDetConf | The object detection confidence, or -1 in which case the simulation will compute a confidence based on the area of the target in the camera's field of view |
◆ GetFiducialId()
| int photon::VisionTargetSim::GetFiducialId |
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const |
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Returns the fiducial ID of this target, or -1 if not a fiducial target.
- Returns
- The fiducial ID
◆ GetFieldVertices()
| std::vector< wpi::math::Translation3d > photon::VisionTargetSim::GetFieldVertices |
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const |
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This target's vertices offset from its field pose.
- Returns
- A vector of Translation3d representing the vertices of the target
◆ GetModel()
| TargetModel photon::VisionTargetSim::GetModel |
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const |
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Returns the model describing this target's geometry.
- Returns
- The model of the target
◆ GetObjDetClassId()
| int photon::VisionTargetSim::GetObjDetClassId |
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const |
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Returns the object detection class ID of this target, or -1 if not an object detection target.
- Returns
- The object detection class ID
◆ GetObjDetConf()
| float photon::VisionTargetSim::GetObjDetConf |
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const |
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Returns the object detection confidence of this target, or -1 if confidence is estimated from target area or is not an object.
- Returns
- The object detection confidence
◆ GetPose()
| wpi::math::Pose3d photon::VisionTargetSim::GetPose |
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const |
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Returns the pose of this target on the field.
- Returns
- The pose in field-relative coordinates
◆ operator<()
| bool photon::VisionTargetSim::operator< |
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const VisionTargetSim & | right | ) |
const |
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◆ operator==()
| bool photon::VisionTargetSim::operator== |
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const VisionTargetSim & | other | ) |
const |
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◆ SetModel()
| void photon::VisionTargetSim::SetModel |
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const TargetModel & | newModel | ) |
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Sets the model describing this target's geometry.
- Parameters
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| newModel | The model of the target |
◆ SetPose()
| void photon::VisionTargetSim::SetPose |
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const wpi::math::Pose3d & | newPose | ) |
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inline |
Sets the pose of this target on the field.
- Parameters
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| newPose | The pose in field-relative coordinates |
The documentation for this class was generated from the following file:
1.12.0