vision_detection.h

#pragma once
 
#include "software/geom/angle.h"
#include "software/geom/point.h"
#include "software/time/timestamp.h"
 
struct RobotDetection
{
    unsigned int id;
    Point position;
    Angle orientation;
    double confidence;
    Timestamp timestamp;
 
    bool operator<(const RobotDetection &r) const
    {
        return timestamp < r.timestamp;
    }
};
 
struct BallDetection
{
    // The position of the ball detection on the field, in meters
    Point position;
    // The height of the ball off the ground, in meters
    double distance_from_ground;
    // The timestamp of the detection. This is the timestamp for when the camera frame
    // containing the detection was captured
    Timestamp timestamp;
    double confidence;
 
    bool operator<(const BallDetection &b) const
    {
        return timestamp < b.timestamp;
    }
};