mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
f1cadc1e1e
### What does this do? - Deprecates previous sim classes - Has a `CameraProperties` class for describing a camera's basic/calibration info, and performance values for simulation. Calibration values can be loaded from the `config.json` in the settings exported by photonvision. - `OpenCVHelp` provides convenience functions for using opencv methods with wpilib/photonvision classes, mainly to project 3d points to a camera's 2d image and perform solvePnP with the above camera calibration info. - `TargetModel`s describe the 3d shape of a target, both for projecting into the camera's 2d image and use in solvePnP. - `PhotonCameraSim` uses camera properties to simulate how 3d targets would appear in its view, and has simulated noise, latency, and FPS. For apriltags, the best/alternate camera-to-target transform is also estimated with solvePnP. - `VideoSimUtil` has helper functions for drawing apriltags to a simulated raw and processed MJPEG stream for each camera using the projected tag corners. - `VisionSystemSim` stores `VisionTargetSim`s and `PhotonCameraSim`s, and is periodically updated with the robot's simulated pose. When updating, camera sims are automatically processed and published with their visible targets from their respective poses with proper latency. ### What's still not working? - Mac Arm builds are broken - More examples - Update website/docs
64 lines
1.5 KiB
JSON
64 lines
1.5 KiB
JSON
{
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"HALProvider": {
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"Other Devices": {
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"AnalogGyro[0]": {
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"header": {
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"open": true
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}
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}
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}
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},
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"NTProvider": {
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"types": {
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"/FMSInfo": "FMSInfo",
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"/LiveWindow/Ungrouped/AnalogGyro[0]": "Gyro",
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"/LiveWindow/Ungrouped/MotorControllerGroup[1]": "Motor Controller",
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"/LiveWindow/Ungrouped/MotorControllerGroup[2]": "Motor Controller",
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"/LiveWindow/Ungrouped/PIDController[1]": "PIDController",
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"/LiveWindow/Ungrouped/PIDController[2]": "PIDController",
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"/SmartDashboard/Field": "Field2d",
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"/SmartDashboard/VisionSystemSim-Test/Sim Field": "Field2d",
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"/SmartDashboard/VisionSystemSim-YOUR CAMERA NAME/Sim Field": "Field2d"
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},
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"windows": {
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"/SmartDashboard/Field": {
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"window": {
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"visible": true
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}
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},
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"/SmartDashboard/VisionSystemSim-Test/Sim Field": {
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"window": {
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"visible": true
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}
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},
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"/SmartDashboard/VisionSystemSim-YOUR CAMERA NAME/Sim Field": {
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"window": {
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"visible": true
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}
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}
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}
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},
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"NetworkTables": {
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"transitory": {
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"LiveWindow": {
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"open": true
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},
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"photonvision": {
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"OV9281": {
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"open": true
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},
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"USB_Camera": {
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"open": true
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},
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"YOUR CAMERA NAME": {
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"open": true
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},
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"open": true,
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"testCamera": {
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"open": true
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}
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}
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}
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}
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}
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