mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#pragma once
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#include <limits>
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#include <memory>
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#include <frc/apriltag/AprilTagFieldLayout.h>
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#include <frc/apriltag/AprilTagFields.h>
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#include <photon/PhotonCamera.h>
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#include <photon/PhotonPoseEstimator.h>
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#include <photon/estimation/VisionEstimation.h>
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#include <photon/simulation/VisionSystemSim.h>
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#include <photon/simulation/VisionTargetSim.h>
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#include <photon/targeting/PhotonPipelineResult.h>
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#include "Constants.h"
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class VisionSim {
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public:
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explicit VisionSim(photon::PhotonCamera* camera) {
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if (frc::RobotBase::IsSimulation()) {
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visionSim = std::make_unique<photon::VisionSystemSim>("main");
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visionSim->AddAprilTags(constants::Vision::kTagLayout);
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cameraProp = std::make_unique<photon::SimCameraProperties>();
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cameraProp->SetCalibration(320, 240, frc::Rotation2d{90_deg});
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cameraProp->SetCalibError(.35, .10);
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cameraProp->SetFPS(70_Hz);
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cameraProp->SetAvgLatency(30_ms);
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cameraProp->SetLatencyStdDev(15_ms);
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cameraSim =
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std::make_shared<photon::PhotonCameraSim>(camera, *cameraProp.get());
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visionSim->AddCamera(cameraSim.get(), constants::Vision::kRobotToCam);
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cameraSim->EnableDrawWireframe(true);
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}
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}
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photon::PhotonPipelineResult GetLatestResult() { return m_latestResult; }
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void SimPeriodic(frc::Pose2d robotSimPose) {
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visionSim->Update(robotSimPose);
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}
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void ResetSimPose(frc::Pose2d pose) {
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if (frc::RobotBase::IsSimulation()) {
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visionSim->ResetRobotPose(pose);
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}
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}
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frc::Field2d& GetSimDebugField() { return visionSim->GetDebugField(); }
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private:
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std::unique_ptr<photon::VisionSystemSim> visionSim;
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std::unique_ptr<photon::SimCameraProperties> cameraProp;
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std::shared_ptr<photon::PhotonCameraSim> cameraSim;
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// The most recent result, cached for calculating std devs
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photon::PhotonPipelineResult m_latestResult;
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};
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