Package io.github.frc5024.lib5k.vision.types

Class AxisAlignedBoundingBox

java.lang.Object

edu.wpi.first.wpilibj.geometry.Translation2d

io.github.frc5024.lib5k.vision.types.Contour

io.github.frc5024.lib5k.vision.types.AxisAlignedBoundingBox

Direct Known Subclasses:

HyperbolicAxisAlignedBoundingBox

public class AxisAlignedBoundingBox
extends Contour

A computer-vision axis-aligned bounding box. Relative to a camera

Field Summary

Fields inherited from class io.github.frc5024.lib5k.vision.types.Contour

NO_ROTATION

Constructor Summary

Constructors

Constructor	Description
AxisAlignedBoundingBox(Translation2d topLeft, Translation2d bottomRight)	Create an AxisAlignedBoundingBox from opposing corners
AxisAlignedBoundingBox(Translation2d topLeft, Translation2d bottomRight, Rotation2d xRot, Rotation2d yRot)	Create an AxisAlignedBoundingBox from opposing corners, with angles relative to a camera

Method Summary

Modifier and Type	Method	Description
boolean	contains(Translation2d point)	Check if this contour contains a point
double	getAspectRatio()	Get the aspect ratio of this box as width/height
Translation2d	getBottomLeftCorner()	Get the bottom left corner of this box expressed as a percentage of the frame from the center (top left is -1,1)
Translation2d	getBottomRightCorner()	Get the bottom right corner of this box expressed as a percentage of the frame from the center (top left is -1,1)
double	getHeight()	Get box height
Translation2d	getTopLeftCorner()	Get the top left corner of this box expressed as a percentage of the frame from the center (top left is -1,1)
Translation2d	getTopRightCorner()	Get the top right corner of this box expressed as a percentage of the frame from the center (top left is -1,1)
double	getWidth()	Get box width
boolean	overlaps(AxisAlignedBoundingBox box)	Check if this contour overlaps with an AxisAlignedBoundingBox
java.lang.String	toString()

Methods inherited from class io.github.frc5024.lib5k.vision.types.Contour

getXRotation, getYRotation

Methods inherited from class edu.wpi.first.wpilibj.geometry.Translation2d

div, equals, getDistance, getNorm, getX, getY, hashCode, minus, plus, rotateBy, times, unaryMinus

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

AxisAlignedBoundingBox

public AxisAlignedBoundingBox(Translation2d topLeft,
                              Translation2d bottomRight)

Create an AxisAlignedBoundingBox from opposing corners

Parameters:

topLeft - Top left corner expressed as a percentage of the frame from the center (top left is -1,1)

bottomRight - Bottom right corner expressed as a percentage of the frame from the center (top left is -1,1)

AxisAlignedBoundingBox

public AxisAlignedBoundingBox(Translation2d topLeft,
                              Translation2d bottomRight,
                              Rotation2d xRot,
                              Rotation2d yRot)

Create an AxisAlignedBoundingBox from opposing corners, with angles relative to a camera

Parameters:

topLeft - Top left corner expressed as a percentage of the frame from the center (top left is -1,1)

bottomRight - Bottom right corner expressed as a percentage of the frame from the center (top left is -1,1)

xRot - X angle from camera

yRot - Y angle from camera

Method Detail

getAspectRatio

public double getAspectRatio()

Get the aspect ratio of this box as width/height

Returns:

Aspect ratio

contains

public boolean contains(Translation2d point)

Description copied from class: Contour

Check if this contour contains a point

Specified by:

contains in class Contour

Parameters:

point - Point

Returns:

Is the point in this contour?

overlaps

public boolean overlaps(AxisAlignedBoundingBox box)

Description copied from class: Contour

Check if this contour overlaps with an AxisAlignedBoundingBox

Specified by:

overlaps in class Contour

Parameters:

box - AxisAlignedBoundingBox

Returns:

Does it overlap?

getTopLeftCorner

public Translation2d getTopLeftCorner()

Get the top left corner of this box expressed as a percentage of the frame from the center (top left is -1,1)

Returns:

top left corner

getBottomLeftCorner

public Translation2d getBottomLeftCorner()

Get the bottom left corner of this box expressed as a percentage of the frame from the center (top left is -1,1)

Returns:

bottom left corner

getTopRightCorner

public Translation2d getTopRightCorner()

Get the top right corner of this box expressed as a percentage of the frame from the center (top left is -1,1)

Returns:

top right corner

getBottomRightCorner

public Translation2d getBottomRightCorner()

Get the bottom right corner of this box expressed as a percentage of the frame from the center (top left is -1,1)

Returns:

bottom right corner

getWidth

public double getWidth()

Get box width

Returns:

Width

getHeight

public double getHeight()

Get box height

Returns:

Height

toString

public java.lang.String toString()

Overrides:

toString in class Translation2d