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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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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;