remove TargetCorner from c++

im not 100% sure but just doing std::pair<double, double> is sufficient and shouldnt conflict with protobuf
PhotonVision · Nov 18, 2023 · 6d5332c · 6d5332c
1 parent b7b0477
commit 6d5332c
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Showing 14 changed files with 15 additions and 90 deletions.
diff --git a/photon-lib/src/main/native/include/photon/PhotonCamera.h b/photon-lib/src/main/native/include/photon/PhotonCamera.h
@@ -44,7 +44,6 @@
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/TargetCorner.h"
 
 namespace cv {
 class Mat;

diff --git a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
@@ -36,7 +36,6 @@
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/TargetCorner.h"
 
 namespace cv {
 class Mat;

diff --git a/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h b/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h
@@ -31,7 +31,6 @@
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/TargetCorner.h"
 
 namespace photon {
 

diff --git a/photon-lib/src/main/native/include/photon/PhotonUtils.h b/photon-lib/src/main/native/include/photon/PhotonUtils.h
@@ -37,7 +37,6 @@
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/TargetCorner.h"
 
 namespace photon {
 class PhotonUtils {

diff --git a/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h b/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h
@@ -39,7 +39,6 @@
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/TargetCorner.h"
 
 namespace photon {
 class SimPhotonCamera : public PhotonCamera {

diff --git a/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h b/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h
@@ -39,7 +39,6 @@
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/TargetCorner.h"
 
 namespace photon {
 class SimVisionSystem {

diff --git a/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h b/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h
@@ -32,7 +32,6 @@
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/TargetCorner.h"
 
 namespace photon {
 class SimVisionTarget {

diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
@@ -42,7 +42,6 @@
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/TargetCorner.h"
 
 static std::vector<frc::AprilTag> tags = {
     {0, frc::Pose3d(units::meter_t(3), units::meter_t(3), units::meter_t(3),

diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
@@ -23,8 +23,6 @@
 #include <frc/geometry/Translation2d.h>
 #include <wpi/SmallVector.h>
 
-#include "photon/targeting/TargetCorner.h"
-
 static constexpr const uint8_t MAX_CORNERS = 8;
 
 using namespace photon;
@@ -33,8 +31,8 @@ PhotonTrackedTarget::PhotonTrackedTarget(
     double yaw, double pitch, double area, double skew, int id,
     const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
     double ambiguity,
-    const wpi::SmallVector<TargetCorner, 4> minAreaRectCorners,
-    const std::vector<TargetCorner> detectedCorners)
+    const wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners,
+    const std::vector<std::pair<double, double>> detectedCorners)
     : yaw(yaw),
       pitch(pitch),
       area(area),

diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/TargetCorner.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/TargetCorner.cpp
diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
@@ -125,7 +125,6 @@ class PhotonPipelineResult {
   friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
   friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
 
- private:
   units::second_t latency = 0_s;
   units::second_t timestamp = -1_s;
   wpi::SmallVector<PhotonTrackedTarget, 10> targets;

diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
@@ -25,7 +25,6 @@
 #include <frc/geometry/Transform3d.h>
 #include <wpi/SmallVector.h>
 
-#include "TargetCorner.h"
 #include "photon/dataflow/structures/Packet.h"
 
 namespace photon {
@@ -54,8 +53,8 @@ class PhotonTrackedTarget {
       double yaw, double pitch, double area, double skew, int fiducialID,
       const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
       double ambiguity,
-      const wpi::SmallVector<TargetCorner, 4> minAreaRectCorners,
-      const std::vector<TargetCorner> detectedCorners);
+      const wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners,
+      const std::vector<std::pair<double, double>> detectedCorners);
 
   /**
    * Returns the target yaw (positive-left).
@@ -92,7 +91,8 @@ class PhotonTrackedTarget {
    * down), in no particular order, of the minimum area bounding rectangle of
    * this target
    */
-  const wpi::SmallVector<TargetCorner, 4>& GetMinAreaRectCorners() const {
+  const wpi::SmallVector<std::pair<double, double>, 4>& GetMinAreaRectCorners()
+      const {
     return minAreaRectCorners;
   }
 
@@ -107,7 +107,7 @@ class PhotonTrackedTarget {
    * V + Y     |       |
    *           0 ----- 1
    */
-  const std::vector<TargetCorner>& GetDetectedCorners() const {
+  const std::vector<std::pair<double, double>>& GetDetectedCorners() const {
     return detectedCorners;
   }
 
@@ -140,7 +140,6 @@ class PhotonTrackedTarget {
   friend Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target);
   friend Packet& operator>>(Packet& packet, PhotonTrackedTarget& target);
 
- private:
   double yaw = 0;
   double pitch = 0;
   double area = 0;
@@ -149,7 +148,7 @@ class PhotonTrackedTarget {
   frc::Transform3d bestCameraToTarget;
   frc::Transform3d altCameraToTarget;
   double poseAmbiguity;
-  wpi::SmallVector<TargetCorner, 4> minAreaRectCorners;
-  std::vector<TargetCorner> detectedCorners;
+  wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners;
+  std::vector<std::pair<double, double>> detectedCorners;
 };
 }  // namespace photon
diff --git a/photon-targeting/src/main/native/include/photon/targeting/TargetCorner.h b/photon-targeting/src/main/native/include/photon/targeting/TargetCorner.h
diff --git a/photon-targeting/src/test/native/cpp/PacketTest.cpp b/photon-targeting/src/test/native/cpp/PacketTest.cpp
@@ -20,12 +20,12 @@
 #include <units/angle.h>
 
 #include "gtest/gtest.h"
+
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/TargetCorner.h"
 
 TEST(PacketTest, PhotonTrackedTarget) {
   photon::PhotonTrackedTarget target{
@@ -77,10 +77,8 @@ TEST(PacketTest, PhotonPipelineResult) {
           frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                            frc::Rotation3d(1_rad, 2_rad, 3_rad)),
           -1,
-          {photon::TargetCorner(1, 2), photon::TargetCorner(3, 4),
-           photon::TargetCorner(5, 6), photon::TargetCorner(7, 8)},
-          {photon::TargetCorner(1, 2), photon::TargetCorner(3, 4),
-           photon::TargetCorner(5, 6), photon::TargetCorner(7, 8)}},
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
       photon::PhotonTrackedTarget{
           3.0,
           -4.0,
@@ -92,10 +90,9 @@ TEST(PacketTest, PhotonPipelineResult) {
           frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                            frc::Rotation3d(1_rad, 2_rad, 3_rad)),
           -1,
-          {photon::TargetCorner(1, 2), photon::TargetCorner(3, 4),
-           photon::TargetCorner(5, 6), photon::TargetCorner(7, 8)},
-          {photon::TargetCorner(1, 2), photon::TargetCorner(3, 4),
-           photon::TargetCorner(5, 6), photon::TargetCorner(7, 8)}}};
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
+           std::pair{7, 8}}}};
 
   photon::PhotonPipelineResult result2{2_s, targets};
   photon::Packet p2;