mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
a764ace7f2
(Very) beta AprilTag support in PhotonVision. Disables Picam GPU acceleration until we can debug auto exposure in the MMAL driver. Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com> Co-authored-by: Matt <matthew.morley.ca@gmail.com> Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com> Co-authored-by: Chris <chrisgerth010592@gmail.com> Co-authored-by: mdurrani808 <mdurrani808@gmail.com>
78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
/*
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* MIT License
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*
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* Copyright (c) 2022 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 <string>
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#include <vector>
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#include <frc/geometry/Translation2d.h>
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#include <units/angle.h>
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#include <units/area.h>
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#include <units/length.h>
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#include <units/time.h>
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#include <wpi/SmallVector.h>
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#include "photonlib/SimPhotonCamera.h"
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#include "photonlib/SimVisionTarget.h"
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namespace photonlib {
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/**
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* Represents a camera that is connected to PhotonVision.
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*/
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class SimVisionSystem {
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public:
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explicit SimVisionSystem(const std::string& name, units::degree_t camDiagFOV,
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frc::Transform2d cameraToRobot,
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units::meter_t cameraHeightOffGround,
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units::meter_t maxLEDRange, int cameraResWidth,
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int cameraResHeight, double minTargetArea);
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void AddSimVisionTarget(SimVisionTarget tgt);
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void MoveCamera(frc::Transform2d newcameraToRobot,
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units::meter_t newCamHeight);
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void ProcessFrame(frc::Pose2d robotPose);
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private:
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frc::Transform2d cameraToRobot;
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units::meter_t cameraHeightOffGround;
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units::meter_t maxLEDRange;
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int cameraResWidth;
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int cameraResHeight;
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double minTargetArea;
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units::degree_t camHorizFOV;
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units::degree_t camVertFOV;
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std::vector<SimVisionTarget> tgtList = {};
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double GetM2PerPx(units::meter_t dist);
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bool CamCanSeeTarget(units::meter_t distHypot, units::degree_t yaw,
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units::degree_t pitch, double area);
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public:
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SimPhotonCamera cam = photonlib::SimPhotonCamera("Default");
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};
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} // namespace photonlib
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