PhotonVision C++ dev-v2025.0.0-beta-8-2-gbd1c5c03
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Public Member Functions | Static Public Member Functions | List of all members
photon::SimCameraProperties Class Reference

#include <photon/simulation/SimCameraProperties.h>

Public Member Functions

 SimCameraProperties ()
 
 SimCameraProperties (std::string path, int width, int height)
 
void SetCalibration (int width, int height, frc::Rotation2d fovDiag)
 
void SetCalibration (int width, int height, const Eigen::Matrix< double, 3, 3 > &newCamIntrinsics, const Eigen::Matrix< double, 8, 1 > &newDistCoeffs)
 
void SetCalibError (double newAvgErrorPx, double newErrorStdDevPx)
 
void SetFPS (units::hertz_t fps)
 
void SetExposureTime (units::second_t newExposureTime)
 
void SetAvgLatency (units::second_t newAvgLatency)
 
void SetLatencyStdDev (units::second_t newLatencyStdDev)
 
int GetResWidth () const
 
int GetResHeight () const
 
int GetResArea () const
 
double GetAspectRatio () const
 
Eigen::Matrix< double, 3, 3 > GetIntrinsics () const
 
Eigen::Matrix< double, 8, 1 > GetDistCoeffs () const
 
units::hertz_t GetFPS () const
 
units::second_t GetFrameSpeed () const
 
units::second_t GetExposureTime () const
 
units::second_t GetAverageLatency () const
 
units::second_t GetLatencyStdDev () const
 
double GetContourAreaPercent (const std::vector< cv::Point2f > &points)
 
frc::Rotation2d GetPixelYaw (double pixelX) const
 
frc::Rotation2d GetPixelPitch (double pixelY) const
 
frc::Rotation3d GetPixelRot (const cv::Point2d &point) const
 
frc::Rotation3d GetCorrectedPixelRot (const cv::Point2d &point) const
 
frc::Rotation2d GetHorizFOV () const
 
frc::Rotation2d GetVertFOV () const
 
frc::Rotation2d GetDiagFOV () const
 
std::pair< std::optional< double >, std::optional< double > > GetVisibleLine (const RotTrlTransform3d &camRt, const frc::Translation3d &a, const frc::Translation3d &b) const
 
std::vector< cv::Point2f > EstPixelNoise (const std::vector< cv::Point2f > &points)
 
units::second_t EstLatency ()
 
units::second_t EstSecUntilNextFrame ()
 

Static Public Member Functions

static SimCameraProperties PERFECT_90DEG ()
 
static SimCameraProperties PI4_LIFECAM_320_240 ()
 
static SimCameraProperties PI4_LIFECAM_640_480 ()
 
static SimCameraProperties LL2_640_480 ()
 
static SimCameraProperties LL2_960_720 ()
 
static SimCameraProperties LL2_1280_720 ()
 

Constructor & Destructor Documentation

◆ SimCameraProperties() [1/2]

photon::SimCameraProperties::SimCameraProperties ( )
inline

◆ SimCameraProperties() [2/2]

photon::SimCameraProperties::SimCameraProperties ( std::string path,
int width,
int height )
inline

Member Function Documentation

◆ EstLatency()

units::second_t photon::SimCameraProperties::EstLatency ( )
inline

◆ EstPixelNoise()

std::vector< cv::Point2f > photon::SimCameraProperties::EstPixelNoise ( const std::vector< cv::Point2f > & points)
inline

◆ EstSecUntilNextFrame()

units::second_t photon::SimCameraProperties::EstSecUntilNextFrame ( )
inline

◆ GetAspectRatio()

double photon::SimCameraProperties::GetAspectRatio ( ) const
inline

◆ GetAverageLatency()

units::second_t photon::SimCameraProperties::GetAverageLatency ( ) const
inline

◆ GetContourAreaPercent()

double photon::SimCameraProperties::GetContourAreaPercent ( const std::vector< cv::Point2f > & points)
inline

◆ GetCorrectedPixelRot()

frc::Rotation3d photon::SimCameraProperties::GetCorrectedPixelRot ( const cv::Point2d & point) const
inline

◆ GetDiagFOV()

frc::Rotation2d photon::SimCameraProperties::GetDiagFOV ( ) const
inline

◆ GetDistCoeffs()

Eigen::Matrix< double, 8, 1 > photon::SimCameraProperties::GetDistCoeffs ( ) const
inline

◆ GetExposureTime()

units::second_t photon::SimCameraProperties::GetExposureTime ( ) const
inline

◆ GetFPS()

units::hertz_t photon::SimCameraProperties::GetFPS ( ) const
inline

◆ GetFrameSpeed()

units::second_t photon::SimCameraProperties::GetFrameSpeed ( ) const
inline

◆ GetHorizFOV()

frc::Rotation2d photon::SimCameraProperties::GetHorizFOV ( ) const
inline

◆ GetIntrinsics()

Eigen::Matrix< double, 3, 3 > photon::SimCameraProperties::GetIntrinsics ( ) const
inline

◆ GetLatencyStdDev()

units::second_t photon::SimCameraProperties::GetLatencyStdDev ( ) const
inline

◆ GetPixelPitch()

frc::Rotation2d photon::SimCameraProperties::GetPixelPitch ( double pixelY) const
inline

◆ GetPixelRot()

frc::Rotation3d photon::SimCameraProperties::GetPixelRot ( const cv::Point2d & point) const
inline

◆ GetPixelYaw()

frc::Rotation2d photon::SimCameraProperties::GetPixelYaw ( double pixelX) const
inline

◆ GetResArea()

int photon::SimCameraProperties::GetResArea ( ) const
inline

◆ GetResHeight()

int photon::SimCameraProperties::GetResHeight ( ) const
inline

◆ GetResWidth()

int photon::SimCameraProperties::GetResWidth ( ) const
inline

◆ GetVertFOV()

frc::Rotation2d photon::SimCameraProperties::GetVertFOV ( ) const
inline

◆ GetVisibleLine()

std::pair< std::optional< double >, std::optional< double > > photon::SimCameraProperties::GetVisibleLine ( const RotTrlTransform3d & camRt,
const frc::Translation3d & a,
const frc::Translation3d & b ) const

◆ LL2_1280_720()

static SimCameraProperties photon::SimCameraProperties::LL2_1280_720 ( )
inlinestatic

◆ LL2_640_480()

static SimCameraProperties photon::SimCameraProperties::LL2_640_480 ( )
inlinestatic

◆ LL2_960_720()

static SimCameraProperties photon::SimCameraProperties::LL2_960_720 ( )
inlinestatic

◆ PERFECT_90DEG()

static SimCameraProperties photon::SimCameraProperties::PERFECT_90DEG ( )
inlinestatic

◆ PI4_LIFECAM_320_240()

static SimCameraProperties photon::SimCameraProperties::PI4_LIFECAM_320_240 ( )
inlinestatic

◆ PI4_LIFECAM_640_480()

static SimCameraProperties photon::SimCameraProperties::PI4_LIFECAM_640_480 ( )
inlinestatic

◆ SetAvgLatency()

void photon::SimCameraProperties::SetAvgLatency ( units::second_t newAvgLatency)
inline

◆ SetCalibError()

void photon::SimCameraProperties::SetCalibError ( double newAvgErrorPx,
double newErrorStdDevPx )
inline

◆ SetCalibration() [1/2]

void photon::SimCameraProperties::SetCalibration ( int width,
int height,
const Eigen::Matrix< double, 3, 3 > & newCamIntrinsics,
const Eigen::Matrix< double, 8, 1 > & newDistCoeffs )

◆ SetCalibration() [2/2]

void photon::SimCameraProperties::SetCalibration ( int width,
int height,
frc::Rotation2d fovDiag )

◆ SetExposureTime()

void photon::SimCameraProperties::SetExposureTime ( units::second_t newExposureTime)
inline

◆ SetFPS()

void photon::SimCameraProperties::SetFPS ( units::hertz_t fps)
inline

◆ SetLatencyStdDev()

void photon::SimCameraProperties::SetLatencyStdDev ( units::second_t newLatencyStdDev)
inline
The documentation for this class was generated from the following file: