mirror of
https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
synced 2026-06-09 00:28:06 -06:00
95 lines
1.9 KiB
YAML
95 lines
1.9 KiB
YAML
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---
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- name: PhotonPipelineMetadata
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fields:
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- name: sequenceID
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type: int64
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- name: captureTimestampMicros
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type: int64
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- name: publishTimestampMicros
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type: int64
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- name: timeSinceLastPong
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type: int64
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- name: Transform3d
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shimmed: True
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java_decode_shim: PacketUtils.unpackTransform3d
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java_encode_shim: PacketUtils.packTransform3d
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cpp_type: frc::Transform3d
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cpp_include: "<frc/geometry/Transform3d.h>"
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python_decode_shim: decodeTransform
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python_encode_shim: encodeTransform
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java_import: edu.wpi.first.math.geometry.Transform3d
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# shim since we expect fields to at least exist
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fields: []
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- name: TargetCorner
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fields:
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- name: x
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type: float64
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- name: y
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type: float64
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- name: PhotonTrackedTarget
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fields:
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- name: yaw
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type: float64
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- name: pitch
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type: float64
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- name: area
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type: float64
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- name: skew
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type: float64
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- name: fiducialId
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type: int32
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- name: objDetectId
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type: int32
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- name: objDetectConf
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type: float32
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- name: bestCameraToTarget
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type: Transform3d
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- name: altCameraToTarget
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type: Transform3d
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- name: poseAmbiguity
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type: float64
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- name: minAreaRectCorners
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type: TargetCorner
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vla: True
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- name: detectedCorners
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type: TargetCorner
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vla: True
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- name: PnpResult
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fields:
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- name: best
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type: Transform3d
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comment: "This is a comment"
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- name: alt
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type: Transform3d
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- name: bestReprojErr
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type: float64
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- name: altReprojErr
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type: float64
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- name: ambiguity
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type: float64
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- name: MultiTargetPNPResult
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fields:
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- name: estimatedPose
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type: PnpResult
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- name: fiducialIDsUsed
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type: int16
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vla: True
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- name: PhotonPipelineResult
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fields:
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- name: metadata
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type: PhotonPipelineMetadata
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- name: targets
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type: PhotonTrackedTarget
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vla: True
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- name: multitagResult
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type: MultiTargetPNPResult
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optional: True
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