PhotonTrackedTarget

class photonvision.PhotonTrackedTarget(*args, **kwargs)

Bases: pybind11_object

Represents a tracked target within a pipeline.

Overloaded function.

  1. __init__(self: photonvision._photonvision.PhotonTrackedTarget) -> None

Constructs an empty target.

  1. __init__(self: photonvision._photonvision.PhotonTrackedTarget, yaw: float, pitch: float, area: float, skew: float, fiducialID: int, pose: wpimath.geometry._geometry.Transform3d, alternatePose: wpimath.geometry._geometry.Transform3d, ambiguity: float, corners: List[Tuple[float, float]], detectedCorners: List[Tuple[float, float]]) -> None

Constructs a target.

Parameters:

  • yaw – The yaw of the target.

  • pitch – The pitch of the target.

  • area – The area of the target.

  • skew – The skew of the target.

  • pose – The camera-relative pose of the target.

  • alternatePose – The alternate camera-relative pose of the target. @Param corners The corners of the bounding rectangle.

getAlternateCameraToTarget() → wpimath.geometry._geometry.Transform3d

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() → float

Returns the target area (0-100).

Returns:

The target area.

getBestCameraToTarget() → wpimath.geometry._geometry.Transform3d

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() → List[Tuple[float, float]]

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

getFiducialId() → int

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

getMinAreaRectCorners() → List[Tuple[float, float]]

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() → float

Returns the target pitch (positive-up)

Returns:

The target pitch.

getPoseAmbiguity() → float

Get the ratio of pose reprojection errors, called ambiguity. Numbers above 0.2 are likely to be ambiguous. -1 if invalid.

getSkew() → float

Returns the target skew (counter-clockwise positive).

Returns:

The target skew.

getYaw() → float

Returns the target yaw (positive-left).

Returns:

The target yaw.