VideoSimUtil.h File Reference

#include <algorithm>
#include <numeric>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
#include <cscore_cv.h>
#include <frc/apriltag/AprilTag.h>
#include <opencv2/core.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/objdetect.hpp>
#include <units/length.h>
#include "SimCameraProperties.h"
#include "photon/estimation/RotTrlTransform3d.h"

Go to the source code of this file.

Namespaces
namespace	mathutil
namespace	photon
namespace	photon::VideoSimUtil

Functions
template<typename T >
int	mathutil::sgn (T val)
static cv::Mat	photon::VideoSimUtil::Get36h11TagImage (int id)
static std::unordered_map< int, cv::Mat >	photon::VideoSimUtil::LoadAprilTagImages ()
static std::vector< cv::Point2f >	photon::VideoSimUtil::GetImageCorners (const cv::Size &size)
	Gets the points representing the corners of this image.
static std::vector< cv::Point2f >	photon::VideoSimUtil::Get36h11MarkerPts (int scale)
	Gets the points representing the marker(black square) corners.
static std::vector< cv::Point2f >	photon::VideoSimUtil::Get36h11MarkerPts ()
	Gets the points representing the marker(black square) corners.
static void	photon::VideoSimUtil::UpdateVideoProp (cs::CvSource &video, const SimCameraProperties &prop)
	Updates the properties of this cs::CvSource video stream with the given camera properties.
static void	photon::VideoSimUtil::Warp165h5TagImage (int tagId, const std::vector< cv::Point2f > &dstPoints, bool antialiasing, cv::Mat &destination)
	Warps the image of a specific 36h11 AprilTag onto the destination image at the given points.
static double	photon::VideoSimUtil::GetScaledThickness (double thickness480p, const cv::Mat &destination)
	Given a line thickness in a 640x480 image, try to scale to the given destination image resolution.
static void	photon::VideoSimUtil::DrawInscribedEllipse (const std::vector< cv::Point2f > &dstPoints, const cv::Scalar &color, cv::Mat &destination)
	Draw a filled ellipse in the destination image.
static void	photon::VideoSimUtil::DrawPoly (const std::vector< cv::Point2f > &dstPoints, int thickness, const cv::Scalar &color, bool isClosed, cv::Mat &destination)
static void	photon::VideoSimUtil::DrawTagDetection (int id, const std::vector< cv::Point2f > &dstPoints, cv::Mat &destination)
	Draws a contour around the given points and text of the id onto the destination image.
static std::vector< std::vector< frc::Translation3d > >	photon::VideoSimUtil::GetFieldWallLines ()
	The translations used to draw the field side walls and driver station walls.
static std::vector< std::vector< frc::Translation3d > >	photon::VideoSimUtil::GetFieldFloorLines (int subdivisions)
	The translations used to draw the field floor subdivisions (not the floor outline).
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)
	Convert 3D lines represented by the given series of translations into a polygon(s) in the camera's image.
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)
	Draw a wireframe of the field to the given image.

Variables
static constexpr int	photon::VideoSimUtil::kNumTags36h11 = 40
static constexpr units::meter_t	photon::VideoSimUtil::fieldLength {16.54175_m}
static constexpr units::meter_t	photon::VideoSimUtil::fieldWidth {8.0137_m}
static const std::unordered_map< int, cv::Mat >	photon::VideoSimUtil::kTag36h11Images
static const std::vector< cv::Point2f >	photon::VideoSimUtil::kTag36h11MarkPts = Get36h11MarkerPts()