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https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
synced 2026-06-09 08:38:00 -06:00
30 lines
806 B
Python
30 lines
806 B
Python
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from dataclasses import dataclass, field
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from typing import TYPE_CHECKING, ClassVar
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from wpimath.geometry import Transform3d
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if TYPE_CHECKING:
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from ..generated.MultiTargetPNPResultSerde import MultiTargetPNPResultSerde
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from ..generated.PnpResultSerde import PnpResultSerde
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@dataclass
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class PnpResult:
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best: Transform3d = field(default_factory=Transform3d)
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alt: Transform3d = field(default_factory=Transform3d)
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ambiguity: float = 0.0
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bestReprojErr: float = 0.0
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altReprojErr: float = 0.0
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photonStruct: ClassVar["PnpResultSerde"]
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@dataclass
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class MultiTargetPNPResult:
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_MAX_IDS = 32
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estimatedPose: PnpResult = field(default_factory=PnpResult)
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fiducialIDsUsed: list[int] = field(default_factory=list)
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photonStruct: ClassVar["MultiTargetPNPResultSerde"]
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