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Sim target sorting and "easy" NT entries (#262)

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* Typo fixes, add target sorting

* Add easy NT entries

* spotttttttttttttttttlessssssssssssss

* Run wpiformat

* Fix return on no targets

* formatting hell 2 electric boogaloo

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Banks T
2021-03-23 12:47:26 -04:00
committed by GitHub
parent f9fd7a0b45
commit 1e715ce4bb
5 changed files with 140 additions and 23 deletions
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22
photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
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@@ -41,10 +41,10 @@ public class SimVisionSystem {
/**
* Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
* running Photonvision, detecting one or more targets scattered around the field. This assumes a
* fairly simple and distortionless pinhole camera model.
* running PhotonVision, detecting one or more targets scattered around the field. This assumes a
* fairly simple and distortion-less pinhole camera model.
*
* @param camName Name of the photonvision camera to create. Align it with the settings you use in
* @param camName Name of the PhotonVision camera to create. Align it with the settings you use in
* the PhotonVision GUI.
* @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
* manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
@@ -87,25 +87,25 @@ public class SimVisionSystem {
this.camVertFOVDegrees = camDiagFOVDegrees * cameraResHeight / hypotPixels;
cam = new SimPhotonCamera(camName);
tgtList = new ArrayList<SimVisionTarget>();
tgtList = new ArrayList<>();
}
/**
* Add a target on the field which your vision system is designed to detect. The photoncamera from
* this system will report the location of the robot relative to the subste of these targets which
* Add a target on the field which your vision system is designed to detect. The PhotonCamera from
* this system will report the location of the robot relative to the subset of these targets which
* are visible from the given robot position.
*
* @param tgt
* @param target Target to add to the simulated field
*/
public void addSimVisionTarget(SimVisionTarget tgt) {
tgtList.add(tgt);
public void addSimVisionTarget(SimVisionTarget target) {
tgtList.add(target);
}
/**
* Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
* turret or some other mobile platform.
*
* @param newCameraToRobot New Tranform from the robot to the camera
* @param newCameraToRobot New Transform from the robot to the camera
* @param newCamHeightMeters New height of the camera off the floor
* @param newCamPitchDegrees New pitch of the camera axis back from horizontal
*/
@@ -120,7 +120,7 @@ public class SimVisionSystem {
* Periodic update. Call this once per frame of image data you wish to process and send to
* NetworkTables
*
* @param robotPoseMeters current pose of the robot on the field. Will be used to calcualte which
* @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which
* targets are actually in view, where they are at relative to the robot, and relevant
* PhotonVision parameters.
*/