mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
73 lines
2.3 KiB
C
73 lines
2.3 KiB
C
|
/*
|
||
|
|
* Copyright (C) Photon Vision.
|
||
|
|
*
|
||
|
|
* This program is free software: you can redistribute it and/or modify
|
||
|
|
* it under the terms of the GNU General Public License as published by
|
||
|
|
* the Free Software Foundation, either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This program is distributed in the hope that it will be useful,
|
||
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
* GNU General Public License for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License
|
||
|
|
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
#include <vector>
|
||
|
|
|
||
|
|
#include <frc/geometry/Translation2d.h>
|
||
|
|
#include <units/angle.h>
|
||
|
|
#include <units/area.h>
|
||
|
|
#include <units/length.h>
|
||
|
|
#include <units/time.h>
|
||
|
|
#include <wpi/SmallVector.h>
|
||
|
|
|
||
|
|
#include "photonlib/SimPhotonCamera.h"
|
||
|
|
#include "photonlib/SimVisionTarget.h"
|
||
|
|
|
||
|
|
namespace photonlib {
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Represents a camera that is connected to PhotonVision.
|
||
|
|
*/
|
||
|
|
class SimVisionSystem {
|
||
|
|
public:
|
||
|
|
explicit SimVisionSystem(const std::string& name, units::degree_t camDiagFOV,
|
||
|
|
units::degree_t camPitch,
|
||
|
|
frc::Transform2d cameraToRobot,
|
||
|
|
units::meter_t cameraHeightOffGround,
|
||
|
|
units::meter_t maxLEDRange, int cameraResWidth,
|
||
|
|
int cameraResHeight, double minTargetArea);
|
||
|
|
|
||
|
|
void AddSimVisionTarget(SimVisionTarget tgt);
|
||
|
|
void MoveCamera(frc::Transform2d newcameraToRobot,
|
||
|
|
units::meter_t newCamHeight, units::degree_t newCamPitch);
|
||
|
|
void ProcessFrame(frc::Pose2d robotPose);
|
||
|
|
|
||
|
|
private:
|
||
|
|
units::degree_t camPitch;
|
||
|
|
frc::Transform2d cameraToRobot;
|
||
|
|
units::meter_t cameraHeightOffGround;
|
||
|
|
units::meter_t maxLEDRange;
|
||
|
|
int cameraResWidth;
|
||
|
|
int cameraResHeight;
|
||
|
|
double minTargetArea;
|
||
|
|
units::degree_t camHorizFOV;
|
||
|
|
units::degree_t camVertFOV;
|
||
|
|
std::vector<SimVisionTarget> tgtList = {};
|
||
|
|
|
||
|
|
double GetM2PerPx(units::meter_t dist);
|
||
|
|
bool CamCanSeeTarget(units::meter_t distHypot, units::degree_t yaw,
|
||
|
|
units::degree_t pitch, double area);
|
||
|
|
|
||
|
|
public:
|
||
|
|
SimPhotonCamera cam = photonlib::SimPhotonCamera("Default");
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace photonlib
|