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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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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,