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Populate classId and confidence level for object detection in Java simulation (#2372)

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## Description

compute confidence level based on target area in total image size and
populate classId and confidence level in Java (while building the
PhotonTrackedTarget)

## Changes
- Add new VisionTargetSim constructor for object detection
- If class ID specified but confidence = -1, estimate based on total
area

---------

Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Stéphane Dalton
2026-03-18 23:42:37 -04:00
committed by GitHub
parent 846528ce9c
commit 12446a6c44
9 changed files with 321 additions and 30 deletions
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21
photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
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@@ -214,12 +214,23 @@ PhotonPipelineResult PhotonCameraSim::Process(
}
std::optional<photon::PnpResult> pnpSim = std::nullopt;
if (tgt.fiducialId >= 0 && tgt.GetFieldVertices().size() == 4) {
if (tgt.GetFiducialId() >= 0 && tgt.GetFieldVertices().size() == 4) {
pnpSim = OpenCVHelp::SolvePNP_Square(
prop.GetIntrinsics(), prop.GetDistCoeffs(),
tgt.GetModel().GetVertices(), noisyTargetCorners);
}
// Compute object detection confidence if this is an obj det target
int classId = tgt.GetObjDetClassId();
float conf = tgt.GetObjDetConf();
if (classId >= 0 && conf < 0) {
// Simulate confidence using sqrt-scaled area for a more realistic
// curve. Raw areaPercent/100 is tiny for most targets; sqrt scaling
// gives reasonable values even for small-but-visible objects.
conf = static_cast<float>(
std::clamp(std::sqrt(areaPercent / 100.0) * 2.0, 0.0, 1.0));
}
std::vector<std::pair<float, float>> tempCorners =
OpenCVHelp::PointsToCorners(minAreaRectPts);
std::vector<TargetCorner> smallVec;
@@ -236,8 +247,8 @@ PhotonPipelineResult PhotonCameraSim::Process(
detectableTgts.emplace_back(
-centerRot.Z().convert<units::degrees>().to<double>(),
-centerRot.Y().convert<units::degrees>().to<double>(), areaPercent,
centerRot.X().convert<units::degrees>().to<double>(), tgt.fiducialId,
tgt.objDetClassId, tgt.objDetConf,
centerRot.X().convert<units::degrees>().to<double>(),
tgt.GetFiducialId(), classId, conf,
pnpSim ? pnpSim->best : frc::Transform3d{},
pnpSim ? pnpSim->alt : frc::Transform3d{},
pnpSim ? pnpSim->ambiguity : -1, smallVec, cornersDouble);
@@ -254,8 +265,8 @@ PhotonPipelineResult PhotonCameraSim::Process(
VisionTargetSim tgt = pair.first;
std::vector<cv::Point2f> corners = pair.second;
if (tgt.fiducialId > 0) {
VideoSimUtil::Warp165h5TagImage(tgt.fiducialId, corners, true,
if (tgt.GetFiducialId() > 0) {
VideoSimUtil::Warp165h5TagImage(tgt.GetFiducialId(), corners, true,
videoSimFrameRaw);
} else if (!tgt.GetModel().GetIsSpherical()) {
std::vector<cv::Point2f> contour = corners;