Photon Tracked Target¶
What is a Photon Tracked Target?¶
A tracked target contains information about each target from a pipeline result. This information includes yaw, pitch, area, and robot relative pose.
Retrieving Data from a Photon Tracked Target¶
You can use the
GetCameraToTarget() methods (Java and C++ respectively) within the tracked target class to retrieve the yaw, pitch, area, skew, and the camera-to-target transform.
The units for yaw, pitch, and skew are degrees and use standard computer vision directionality. Therefore, a negative yaw means that the recognized target is to the left of the center of the screen, a negative pitch means that the recognized target is below the center of the screen, and skew values are counter-clockwise-positive measured with respect to the horizontal (taking portrait/landscape mode into account). Furthermore, area is scaled from 0-100, representing the percentage of the screen taken up by the bounding box.
The camera-to-target transform represents a 2d transformation (translation and rotation) to the target. For more information on how this works, please see the 2d transform documentation.