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Added constructor overload to PhotonCameraSim for AprilTagFieldLayout (#1692)

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This commit is contained in:
Jochem
2025-01-08 19:43:46 +01:00
committed by GitHub
parent e673304221
commit cc740c92c9
4 changed files with 61 additions and 9 deletions
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5
photon-lib/py/photonlibpy/simulation/photonCameraSim.py
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@@ -36,6 +36,9 @@ class PhotonCameraSim:
self,
camera: PhotonCamera,
props: SimCameraProperties = SimCameraProperties.PERFECT_90DEG(),
tagLayout: AprilTagFieldLayout = AprilTagFieldLayout.loadField(
AprilTagField.kDefaultField
),
minTargetAreaPercent: float | None = None,
maxSightRange: meters | None = None,
):
@@ -64,7 +67,7 @@ class PhotonCameraSim:
self.videoSimProcEnabled: bool = False
self.heartbeatCounter: int = 0
self.nextNtEntryTime = wpilib.Timer.getFPGATimestamp()
self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.kDefaultField)
self.tagLayout = tagLayout
self.cam = camera
self.prop = props

43
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -81,8 +81,7 @@ public class PhotonCameraSim implements AutoCloseable {
private double minTargetAreaPercent;
private PhotonTargetSortMode sortMode = PhotonTargetSortMode.Largest;
private final AprilTagFieldLayout tagLayout =
AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
private final AprilTagFieldLayout tagLayout;
// video stream simulation
private final CvSource videoSimRaw;
@@ -130,8 +129,24 @@ public class PhotonCameraSim implements AutoCloseable {
* @param prop Properties of this camera such as FOV and FPS
*/
public PhotonCameraSim(PhotonCamera camera, SimCameraProperties prop) {
this(camera, prop, AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField));
}
/**
* Constructs a handle for simulating {@link PhotonCamera} values. Processing simulated targets
* through this class will change the associated PhotonCamera's results.
*
* <p>By default, the minimum target area is 100 pixels and there is no maximum sight range.
*
* @param camera The camera to be simulated
* @param prop Properties of this camera such as FOV and FPS
* @param tagLayout The {@link AprilTagFieldLayout} used to solve for tag positions.
*/
public PhotonCameraSim(
PhotonCamera camera, SimCameraProperties prop, AprilTagFieldLayout tagLayout) {
this.cam = camera;
this.prop = prop;
this.tagLayout = tagLayout;
setMinTargetAreaPixels(kDefaultMinAreaPx);
videoSimRaw =
@@ -163,6 +178,30 @@ public class PhotonCameraSim implements AutoCloseable {
SimCameraProperties prop,
double minTargetAreaPercent,
double maxSightRangeMeters) {
this(camera, prop, AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField));
this.minTargetAreaPercent = minTargetAreaPercent;
this.maxSightRangeMeters = maxSightRangeMeters;
}
/**
* Constructs a handle for simulating {@link PhotonCamera} values. Processing simulated targets
* through this class will change the associated PhotonCamera's results.
*
* @param camera The camera to be simulated
* @param prop Properties of this camera such as FOV and FPS
* @param minTargetAreaPercent The minimum percentage(0 - 100) a detected target must take up of
* the camera's image to be processed. Match this with your contour filtering settings in the
* PhotonVision GUI.
* @param maxSightRangeMeters Maximum distance at which the target is illuminated to your camera.
* Note that minimum target area of the image is separate from this.
* @param tagLayout AprilTag field layout to use for multi-tag estimation
*/
public PhotonCameraSim(
PhotonCamera camera,
SimCameraProperties prop,
double minTargetAreaPercent,
double maxSightRangeMeters,
AprilTagFieldLayout tagLayout) {
this(camera, prop);
this.minTargetAreaPercent = minTargetAreaPercent;
this.maxSightRangeMeters = maxSightRangeMeters;

14
photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
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@@ -29,12 +29,19 @@
#include <utility>
#include <vector>
#include <frc/apriltag/AprilTagFieldLayout.h>
#include <frc/apriltag/AprilTagFields.h>
namespace photon {
PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera)
: PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG()) {}
: PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG(),
frc::AprilTagFieldLayout::LoadField(
frc::AprilTagField::kDefaultField)) {}
PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera,
const SimCameraProperties& props)
: prop(props), cam(camera) {
const SimCameraProperties& props,
const frc::AprilTagFieldLayout& tagLayout)
: prop{props}, cam{camera}, tagLayout{tagLayout} {
SetMinTargetAreaPixels(kDefaultMinAreaPx);
videoSimRaw =
frc::CameraServer::PutVideo(std::string{camera->GetCameraName()} + "-raw",
@@ -46,6 +53,7 @@ PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera,
ts.subTable = cam->GetCameraTable();
ts.UpdateEntries();
}
PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera,
const SimCameraProperties& props,
double minTargetAreaPercent,

8
photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
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@@ -50,7 +50,10 @@ namespace photon {
class PhotonCameraSim {
public:
explicit PhotonCameraSim(PhotonCamera* camera);
PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props);
PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props,
const frc::AprilTagFieldLayout& tagLayout =
frc::AprilTagFieldLayout::LoadField(
frc::AprilTagField::kDefaultField));
PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props,
double minTargetAreaPercent, units::meter_t maxSightRange);
@@ -107,8 +110,7 @@ class PhotonCameraSim {
static constexpr double kDefaultMinAreaPx{100};
double minTargetAreaPercent;
frc::AprilTagFieldLayout tagLayout{
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};
frc::AprilTagFieldLayout tagLayout;
cs::CvSource videoSimRaw;
cv::Mat videoSimFrameRaw{};