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

Class Contour

java.lang.Object

edu.wpi.first.wpilibj.geometry.Translation2d

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

Direct Known Subclasses:

AxisAlignedBoundingBox

public abstract class Contour
extends Translation2d

Contour is the base class for any type of computer-vision Contour

Field Summary

Fields

Modifier and Type	Field	Description
static Rotation2d	NO_ROTATION

Constructor Summary

Constructors

Constructor	Description
Contour()	Create a Contour at 0,0
Contour(double x, double y)	Create a contour with a position
Contour(double x, double y, Rotation2d xRot, Rotation2d yRot)	Create a contour with a position and rotation from the camera

Method Summary

Modifier and Type	Method	Description
abstract boolean	contains(Translation2d point)	Check if this contour contains a point
Rotation2d	getXRotation()	Get the X angle from the camera
Rotation2d	getYRotation()	Get the Y angle from the camera
abstract boolean	overlaps(AxisAlignedBoundingBox box)	Check if this contour overlaps with an AxisAlignedBoundingBox

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

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

Methods inherited from class java.lang.Object

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

Field Detail

NO_ROTATION

public static final Rotation2d NO_ROTATION

Constructor Detail

Contour

public Contour()

Create a Contour at 0,0

Contour

public Contour(double x,
               double y)

Create a contour with a position

Parameters:

x - X offset expressed as a percentage of the frame from the center (top left is -1,1)

y - Y offset expressed as a percentage of the frame from the center (top left is -1,1)

Contour

public Contour(double x,
               double y,
               Rotation2d xRot,
               Rotation2d yRot)

Create a contour with a position and rotation from the camera

Parameters:

x - X offset expressed as a percentage of the frame from the center (top left is -1,1)

y - Y offset 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

getXRotation

public Rotation2d getXRotation()

Get the X angle from the camera

Returns:

X angle

getYRotation

public Rotation2d getYRotation()

Get the Y angle from the camera

Returns:

Y angle

contains

public abstract boolean contains(Translation2d point)

Check if this contour contains a point

Parameters:

point - Point

Returns:

Is the point in this contour?

overlaps

public abstract boolean overlaps(AxisAlignedBoundingBox box)

Check if this contour overlaps with an AxisAlignedBoundingBox

Parameters:

box - AxisAlignedBoundingBox

Returns:

Does it overlap?