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InfiniteRechargeTargetModel.cpp
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InfiniteRechargeTargetModel.cpp
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#include "InfiniteRechargeTargetModel.h"
using namespace Lightning;
InfiniteRechargeTargetModel::InfiniteRechargeTargetModel() : TargetModel()
{
_keyPoints = std::vector<cv::Point3d> {
{498.475, 0, 0},
{0, 0, 0},
{58.6486, 0, 0},
{938.3014, 0, 0},
{996.95, 0, 0},
{278.384, 381, 0},
{718.566, 381, 0},
{249.047, 431.8, 0},
{747.903, 431.8, 0}
};
_targetAxes = std::vector<cv::Point3d> {
{0,0,0},
{100,0,0},
{0,100,0},
{0,0,100}
};
}
std::vector<cv::Point3d> InfiniteRechargeTargetModel::GetSubTargetKeyPoints(int subTarget) const
{
// TODO this could be better - may require redesign of target model
std::vector<cv::Point3d> keyPoints;
if (subTarget == 0)
{
// For 2020 this returns the boundingbox corners of the target + center
keyPoints = std::vector<cv::Point3d> {
// {0, 0, 0},
{-498.475, 0, 0},
{498.475, 0, 0},
{-249.428, 431.8, 0},
{249.428, 431.8, 0}
};
}
return keyPoints;
}