photon::VideoSimUtil Namespace Reference

Functions
static cv::Mat	Get36h11TagImage (int id)
static std::unordered_map< int, cv::Mat >	LoadAprilTagImages ()
static std::vector< cv::Point2f >	GetImageCorners (const cv::Size &size)
static std::vector< cv::Point2f >	Get36h11MarkerPts (int scale)
static std::vector< cv::Point2f >	Get36h11MarkerPts ()
static void	UpdateVideoProp (cs::CvSource &video, const SimCameraProperties &prop)
static void	Warp165h5TagImage (int tagId, const std::vector< cv::Point2f > &dstPoints, bool antialiasing, cv::Mat &destination)
static double	GetScaledThickness (double thickness480p, const cv::Mat &destinationMat)
static void	DrawInscribedEllipse (const std::vector< cv::Point2f > &dstPoints, const cv::Scalar &color, cv::Mat &destination)
static void	DrawPoly (const std::vector< cv::Point2f > &dstPoints, int thickness, const cv::Scalar &color, bool isClosed, cv::Mat &destination)
static void	DrawTagDetection (int id, const std::vector< cv::Point2f > &dstPoints, cv::Mat &destination)
static std::vector< std::vector< frc::Translation3d > >	GetFieldWallLines ()
static std::vector< std::vector< frc::Translation3d > >	GetFieldFloorLines (int subdivisions)
static std::vector< std::vector< cv::Point2f > >	PolyFrom3dLines (const RotTrlTransform3d &camRt, const SimCameraProperties &prop, const std::vector< frc::Translation3d > &trls, double resolution, bool isClosed, cv::Mat &destination)
static void	DrawFieldWireFrame (const RotTrlTransform3d &camRt, const SimCameraProperties &prop, double resolution, double wallThickness, const cv::Scalar &wallColor, int floorSubdivisions, double floorThickness, const cv::Scalar &floorColor, cv::Mat &destination)

Variables
static constexpr int	kNumTags36h11 = 30
static constexpr units::meter_t	fieldLength {16.54175_m}
static constexpr units::meter_t	fieldWidth {8.0137_m}
static const std::unordered_map< int, cv::Mat >	kTag36h11Images
static const std::vector< cv::Point2f >	kTag36h11MarkPts = Get36h11MarkerPts()

Function Documentation

DrawFieldWireFrame()

static void photon::VideoSimUtil::DrawFieldWireFrame ( const RotTrlTransform3d & camRt, const SimCameraProperties & prop, double resolution, double wallThickness, const cv::Scalar & wallColor, int floorSubdivisions, double floorThickness, const cv::Scalar & floorColor, cv::Mat & destination )

static

DrawInscribedEllipse()

static void photon::VideoSimUtil::DrawInscribedEllipse ( const std::vector< cv::Point2f > & dstPoints, const cv::Scalar & color, cv::Mat & destination )

static

DrawPoly()

static void photon::VideoSimUtil::DrawPoly ( const std::vector< cv::Point2f > & dstPoints, int thickness, const cv::Scalar & color, bool isClosed, cv::Mat & destination )

static

DrawTagDetection()

static void photon::VideoSimUtil::DrawTagDetection ( int id, const std::vector< cv::Point2f > & dstPoints, cv::Mat & destination )

static

Get36h11MarkerPts() [1/2]

static std::vector< cv::Point2f > photon::VideoSimUtil::Get36h11MarkerPts ( )

static

Get36h11MarkerPts() [2/2]

static std::vector< cv::Point2f > photon::VideoSimUtil::Get36h11MarkerPts ( int scale )

static

Get36h11TagImage()

static cv::Mat photon::VideoSimUtil::Get36h11TagImage ( int id )

static

GetFieldFloorLines()

static std::vector< std::vector< frc::Translation3d > > photon::VideoSimUtil::GetFieldFloorLines ( int subdivisions )

static

GetFieldWallLines()

static std::vector< std::vector< frc::Translation3d > > photon::VideoSimUtil::GetFieldWallLines ( )

static

GetImageCorners()

static std::vector< cv::Point2f > photon::VideoSimUtil::GetImageCorners ( const cv::Size & size )

static

GetScaledThickness()

static double photon::VideoSimUtil::GetScaledThickness ( double thickness480p, const cv::Mat & destinationMat )

static

LoadAprilTagImages()

static std::unordered_map< int, cv::Mat > photon::VideoSimUtil::LoadAprilTagImages ( )

static

PolyFrom3dLines()

static std::vector< std::vector< cv::Point2f > > photon::VideoSimUtil::PolyFrom3dLines ( const RotTrlTransform3d & camRt, const SimCameraProperties & prop, const std::vector< frc::Translation3d > & trls, double resolution, bool isClosed, cv::Mat & destination )

static

UpdateVideoProp()

static void photon::VideoSimUtil::UpdateVideoProp ( cs::CvSource & video, const SimCameraProperties & prop )

static

Warp165h5TagImage()

static void photon::VideoSimUtil::Warp165h5TagImage ( int tagId, const std::vector< cv::Point2f > & dstPoints, bool antialiasing, cv::Mat & destination )

static

Variable Documentation

fieldLength

units::meter_t photon::VideoSimUtil::fieldLength {16.54175_m}

staticconstexpr

fieldWidth

units::meter_t photon::VideoSimUtil::fieldWidth {8.0137_m}

staticconstexpr

kNumTags36h11

int photon::VideoSimUtil::kNumTags36h11 = 30

staticconstexpr

kTag36h11Images

const std::unordered_map<int, cv::Mat> photon::VideoSimUtil::kTag36h11Images

static

Initial value:

=
    LoadAprilTagImages()

kTag36h11MarkPts

const std::vector<cv::Point2f> photon::VideoSimUtil::kTag36h11MarkPts = Get36h11MarkerPts()

static