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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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44
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
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@@ -601,7 +601,49 @@ class VisionSystemSimTest {
robotPose = new Pose2d(-2, -2, Rotation2d.fromDegrees(30));
visionSysSim.update(robotPose);
ambiguity = waitForSequenceNumber(camera, 2).getBestTarget().getPoseAmbiguity();
var target2 = waitForSequenceNumber(camera, 2).getBestTarget();
ambiguity = target2.getPoseAmbiguity();
assertTrue(0 < ambiguity && ambiguity < 0.2, "Tag ambiguity expected to be low");
// and prove that object detection class id/conf are -1 when we look at a tag
assertEquals(-1, target2.objDetectId);
assertEquals(-1, target2.objDetectConf);
}
@Test
public void testObjectDetection() {
var visionSysSim = new VisionSystemSim("Test");
var camera = new PhotonCamera(inst, "camera");
var cameraSim = new PhotonCameraSim(camera);
visionSysSim.addCamera(cameraSim, new Transform3d());
cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
cameraSim.setMinTargetAreaPixels(20.0);
final var targetPose = new Pose3d(new Translation3d(2, 0, 0), new Rotation3d(0, 0, Math.PI));
final int classId = 3;
final float conf = 0.67f;
final TargetModel ballModel = new TargetModel(Units.inchesToMeters(6));
final var ballTarget = new VisionTargetSim(targetPose, ballModel, classId, conf);
visionSysSim.addVisionTargets(ballTarget);
var robotPose = Pose2d.kZero;
visionSysSim.update(robotPose);
var target1 = waitForSequenceNumber(camera, 1).getBestTarget();
assertEquals(classId, target1.objDetectId);
assertEquals(conf, target1.objDetectConf);
assertEquals(-1, target1.fiducialId);
// much around with the target to force PhotonCameraSim::process calculate conf
visionSysSim.removeVisionTargets(ballTarget);
final float conf2 = -1;
final var ballTarget2 = new VisionTargetSim(targetPose, ballModel, classId, conf2);
visionSysSim.addVisionTargets(ballTarget2);
visionSysSim.update(robotPose);
var target2 = waitForSequenceNumber(camera, 2).getBestTarget();
assertEquals(classId, target2.objDetectId);
// 2 * sqrt(area pixels) at this particular pose
assertEquals(0.131, target2.objDetectConf, 0.01);
assertEquals(-1, target2.fiducialId);
}
}