Package trclib.vision

Class TrcVisionTargetInfo<O extends TrcVisionTargetInfo.ObjectInfo>

java.lang.Object

trclib.vision.TrcVisionTargetInfo<O>

public class TrcVisionTargetInfo<O extends TrcVisionTargetInfo.ObjectInfo>
extends Object

This class calculates and stores the info for a vision detected target.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	TrcVisionTargetInfo.ObjectInfo	This interface implements a method to get the rectangle of the detected object.

Field Summary

Fields

Modifier and Type	Field	Description
O	detectedObj
double	objArea
Double	objDepth
Double	objPixelHeight
Double	objPixelWidth
TrcPose2D	objPose
org.opencv.core.Rect	objRect
Double	objRotatedAngle
Double	objWidth

Constructor Summary

Constructors

Constructor	Description
TrcVisionTargetInfo(O detectedObj)	Constructor: Create an instance of the object.
TrcVisionTargetInfo(O detectedObj, TrcHomographyMapper homographyMapper, double objGroundOffset, double cameraHeight)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
String	toString()	This method returns the string form of the target info.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

detectedObj

public O extends TrcVisionTargetInfo.ObjectInfo detectedObj

objRect

public org.opencv.core.Rect objRect

objArea

public double objArea

objPixelWidth

public Double objPixelWidth

objPixelHeight

public Double objPixelHeight

objRotatedAngle

public Double objRotatedAngle

objPose

public TrcPose2D objPose

objWidth

public Double objWidth

objDepth

public Double objDepth

Constructor Details

TrcVisionTargetInfo

public TrcVisionTargetInfo(O detectedObj,
 TrcHomographyMapper homographyMapper,
 double objGroundOffset,
 double cameraHeight)

Constructor: Create an instance of the object.

Parameters:

detectedObj - specifies the detected object.

homographyMapper - specifies the homography mapper, can be null if not provided in which case distanceFromCamera, targetWidth and horizontalAngle will not be determined.

objGroundOffset - specifies the object ground offset above the floor, used by homography. Can be zero if homographyMapper is null.

cameraHeight - specifies the height of the camera above the floor, used by homography. Can be zero if homographyMapper is null.

TrcVisionTargetInfo

public TrcVisionTargetInfo(O detectedObj)

Constructor: Create an instance of the object.

Parameters:

detectedObj - specifies the detected object.

Method Details

toString

public String toString()

This method returns the string form of the target info.

Overrides:

toString in class Object

Returns:

string form of the target info.