Package org.hivevisionftc.vision

Class FieldProjector

java.lang.Object

org.hivevisionftc.vision.FieldProjector

public final class FieldProjector
extends Object

Turns the camera angles of a detection into a position on the field.

Method Summary

Modifier and Type	Method	Description
static Pose	project(Pose robotPose, VisionConfig config, double txDeg, double tyDeg)	Projects a camera ray onto the plane at the target's height.

Methods inherited from class java.lang.Object

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

Method Details

project

public static Pose project(Pose robotPose,
 VisionConfig config,
 double txDeg,
 double tyDeg)

Projects a camera ray onto the plane at the target's height.

Parameters:

robotPose - robot pose on the field (inches, radians)

config - camera mounting geometry

txDeg - horizontal angle from the crosshair, in degrees (positive is right)

tyDeg - vertical angle from the crosshair, in degrees (positive is up)

Returns:

the field position, or null if the ray never reaches the target's height (it points level or upward relative to the target)