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Update getting-target-data.rst #287

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Update getting-target-data.rst #287

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Update getting-target-data.rst
SamueljWilson Sep 22, 2023
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Merge branch 'master' into patch-1
mdurrani808 Jan 3, 2024
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11 changes: 5 additions & 6 deletions source/docs/programming/photonlib/getting-target-data.rst
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Expand Up @@ -108,8 +108,7 @@ Getting Data From A Target
* double ``getArea()``/``GetArea()``: The area (how much of the camera feed the bounding box takes up) as a percent (0-100).
* double ``getSkew()``/``GetSkew()``: The skew of the target in degrees (counter-clockwise positive).
* double[] ``getCorners()``/``GetCorners()``: The 4 corners of the minimum bounding box rectangle.
* Transform2d ``getCameraToTarget()``/``GetCameraToTarget()``: The camera to target transform. See `2d transform documentation here <https://docs.wpilib.org/en/latest/docs/software/advanced-controls/geometry/transformations.html#transform2d-and-twist2d>`_.

* Transform3d ``getBestCameraToTarget()``/``GetBestCameraToTarget()``: The camera to target transform.
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Are there any good docs pages we can link here?

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I looked and it does not seem so.

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While we're waiting for wpilib to add transform3d docs, let's expand on this a little bit more? Maybe "The 3d transform between your camera's origin and the target's origin. It's the same as transform3d, but generalized to 3d."?

Or poke around and find some ROS docs that explain 3d geometry? IDK.


.. tab-set-code::
.. code-block:: java
Expand All @@ -119,8 +118,8 @@ Getting Data From A Target
double pitch = target.getPitch();
double area = target.getArea();
double skew = target.getSkew();
Transform2d pose = target.getCameraToTarget();
List<TargetCorner> corners = target.getCorners();
Transform3d pose = target.getBestCameraToTarget();
List<TargetCorner> corners = target.getDetectedCorners();
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.. code-block:: c++

Expand All @@ -129,8 +128,8 @@ Getting Data From A Target
double pitch = target.GetPitch();
double area = target.GetArea();
double skew = target.GetSkew();
frc::Transform2d pose = target.GetCameraToTarget();
wpi::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
frc::Transform3d pose = target.GetBestCameraToTarget();
wpi::SmallVector<std::pair<double, double>, 4> corners = target.GetDetectedCorners();

Getting AprilTag Data From A Target
-----------------------------------
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