#include <photon/simulation/PhotonCameraSim.h>

Public Member Functions
	PhotonCameraSim (PhotonCamera *camera)
	Constructs a handle for simulating PhotonCamera values.

	PhotonCameraSim (PhotonCamera *camera, const SimCameraProperties &props, const frc::AprilTagFieldLayout &tagLayout=frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField))
	Constructs a handle for simulating PhotonCamera values.

	PhotonCameraSim (PhotonCamera *camera, const SimCameraProperties &props, double minTargetAreaPercent, units::meter_t maxSightRange)
	Constructs a handle for simulating PhotonCamera values.

PhotonCamera *	GetCamera ()
	Returns the camera being simulated.

double	GetMinTargetAreaPercent ()
	Returns the minimum percentage (0 - 100) a detected target must take up of the camera's image to be processed.

double	GetMinTargetAreaPixels ()
	Returns the minimum number of pixels a detected target must take up in the camera's image to be processed.

units::meter_t	GetMaxSightRange ()
	Returns the maximum distance at which the target is illuminated to your camera.

const cs::CvSource &	GetVideoSimRaw ()

const cv::Mat &	GetVideoSimFrameRaw ()

bool	CanSeeTargetPose (const frc::Pose3d &camPose, const VisionTargetSim &target)
	Determines if this target's pose should be visible to the camera without considering its projected image points.

bool	CanSeeCorner (const std::vector< cv::Point2f > &points)
	Determines if all target points are inside the camera's image.

std::optional< uint64_t >	ConsumeNextEntryTime ()
	Determine if this camera should process a new frame based on performance metrics and the time since the last update.

void	SetMinTargetAreaPercent (double areaPercent)
	Sets the minimum percentage (0 - 100) a detected target must take up of the camera's image to be processed.

void	SetMinTargetAreaPixels (double areaPx)
	Sets the minimum number of pixels a detected target must take up in the camera's image to be processed.

void	SetMaxSightRange (units::meter_t range)
	Sets the maximum distance at which the target is illuminated to your camera.

void	EnableRawStream (bool enabled)
	Sets whether the raw video stream simulation is enabled.

void	EnableDrawWireframe (bool enabled)
	Sets whether a wireframe of the field is drawn to the raw video stream.

void	SetWireframeResolution (double resolution)
	Sets the resolution of the drawn wireframe if enabled.

void	EnabledProcessedStream (double enabled)
	Sets whether the processed video stream simulation is enabled.

PhotonPipelineResult	Process (units::second_t latency, const frc::Pose3d &cameraPose, std::vector< VisionTargetSim > targets)

void	SubmitProcessedFrame (const PhotonPipelineResult &result)

void	SubmitProcessedFrame (const PhotonPipelineResult &result, uint64_t ReceiveTimestamp)

Public Attributes
SimCameraProperties	prop

Constructor & Destructor Documentation

◆ PhotonCameraSim() [1/3]

photon::PhotonCameraSim::PhotonCameraSim ( PhotonCamera * camera )

explicit

Constructs a handle for simulating PhotonCamera values.

Processing simulated targets through this class will change the associated PhotonCamera's results.

WARNING: This constructor's camera has a 90 deg FOV with no simulated lag!

By default, the minimum target area is 100 pixels and there is no maximum sight range.

Parameters

camera The camera to be simulated

◆ PhotonCameraSim() [2/3]

photon::PhotonCameraSim::PhotonCameraSim	(	PhotonCamera *	camera,
		const SimCameraProperties &	props,
		const frc::AprilTagFieldLayout &	tagLayout = frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField) )

Constructs a handle for simulating PhotonCamera values.

Processing simulated targets through this class will change the associated PhotonCamera's results.

By default, the minimum target area is 100 pixels and there is no maximum sight range.

Parameters

camera	The camera to be simulated
prop	Properties of this camera such as FOV and FPS
tagLayout	The AprilTagFieldLayout used to solve for tag positions.

◆ PhotonCameraSim() [3/3]

photon::PhotonCameraSim::PhotonCameraSim	(	PhotonCamera *	camera,
		const SimCameraProperties &	props,
		double	minTargetAreaPercent,
		units::meter_t	maxSightRange )

Constructs a handle for simulating PhotonCamera values.

Processing simulated targets through this class will change the associated PhotonCamera's results.

Parameters

camera	The camera to be simulated
prop	Properties of this camera such as FOV and FPS
minTargetAreaPercent	The minimum percentage (0 - 100) a detected target must take up of the camera's image to be processed. Match this with your contour filtering settings in the PhotonVision GUI.
maxSightRange	Maximum distance at which the target is illuminated to your camera. Note that minimum target area of the image is separate from this.

Member Function Documentation

◆ CanSeeCorner()

bool photon::PhotonCameraSim::CanSeeCorner ( const std::vector< cv::Point2f > & points )

Determines if all target points are inside the camera's image.

Parameters

points The target's 2d image points

Returns: True if all the target points are inside the camera's image, false otherwise.

◆ CanSeeTargetPose()

bool photon::PhotonCameraSim::CanSeeTargetPose	(	const frc::Pose3d &	camPose,
		const VisionTargetSim &	target )

Determines if this target's pose should be visible to the camera without considering its projected image points.

Does not account for image area.

Parameters

camPose	Camera's 3d pose
target	Vision target containing pose and shape

Returns: If this vision target can be seen before image projection.

◆ ConsumeNextEntryTime()

std::optional< uint64_t > photon::PhotonCameraSim::ConsumeNextEntryTime ( )

Determine if this camera should process a new frame based on performance metrics and the time since the last update.

This returns an Optional which is either empty if no update should occur or a Long of the timestamp in microseconds of when the frame which should be received by NT. If a timestamp is returned, the last frame update time becomes that timestamp.

Returns: Optional long which is empty while blocked or the NT entry timestamp in microseconds if ready

◆ EnabledProcessedStream()

void photon::PhotonCameraSim::EnabledProcessedStream ( double enabled )

inline

Sets whether the processed video stream simulation is enabled.

Parameters

enabled Whether or not to enable the processed video stream

◆ EnableDrawWireframe()

void photon::PhotonCameraSim::EnableDrawWireframe ( bool enabled )

inline

Sets whether a wireframe of the field is drawn to the raw video stream.

Note: This will dramatically increase loop times.

Parameters

enabled Whether or not to enable the wireframe in the raw video stream

◆ EnableRawStream()

void photon::PhotonCameraSim::EnableRawStream ( bool enabled )

inline

Sets whether the raw video stream simulation is enabled.

Note: This may increase loop times.

Parameters

enabled Whether or not to enable the raw video stream

◆ GetCamera()

PhotonCamera * photon::PhotonCameraSim::GetCamera ( )

inline

Returns the camera being simulated.

Returns: The camera

◆ GetMaxSightRange()

units::meter_t photon::PhotonCameraSim::GetMaxSightRange ( )

inline

Returns the maximum distance at which the target is illuminated to your camera.

Note that minimum target area of the image is separate from this.

Returns: The distance

◆ GetMinTargetAreaPercent()

double photon::PhotonCameraSim::GetMinTargetAreaPercent ( )

inline

Returns the minimum percentage (0 - 100) a detected target must take up of the camera's image to be processed.

Returns: The percentage

◆ GetMinTargetAreaPixels()

double photon::PhotonCameraSim::GetMinTargetAreaPixels ( )

inline

Returns the minimum number of pixels a detected target must take up in the camera's image to be processed.

Returns: The number of pixels

◆ GetVideoSimFrameRaw()

const cv::Mat & photon::PhotonCameraSim::GetVideoSimFrameRaw ( )

inline

◆ GetVideoSimRaw()

const cs::CvSource & photon::PhotonCameraSim::GetVideoSimRaw ( )

inline

◆ Process()

PhotonPipelineResult photon::PhotonCameraSim::Process	(	units::second_t	latency,
		const frc::Pose3d &	cameraPose,
		std::vector< VisionTargetSim >	targets )

◆ SetMaxSightRange()

void photon::PhotonCameraSim::SetMaxSightRange ( units::meter_t range )

inline

Sets the maximum distance at which the target is illuminated to your camera.

Note that minimum target area of the image is separate from this.

Parameters

rangeMeters The distance

◆ SetMinTargetAreaPercent()

void photon::PhotonCameraSim::SetMinTargetAreaPercent ( double areaPercent )

inline

Sets the minimum percentage (0 - 100) a detected target must take up of the camera's image to be processed.

Parameters

areaPercent The percentage

◆ SetMinTargetAreaPixels()

void photon::PhotonCameraSim::SetMinTargetAreaPixels ( double areaPx )

inline

Sets the minimum number of pixels a detected target must take up in the camera's image to be processed.

Parameters

areaPx The number of pixels

◆ SetWireframeResolution()

void photon::PhotonCameraSim::SetWireframeResolution ( double resolution )

inline

Sets the resolution of the drawn wireframe if enabled.

Drawn line segments will be subdivided into smaller segments based on a threshold set by the resolution.

Parameters

resolution Resolution as a fraction(0 - 1) of the video frame's diagonal length in pixels

◆ SubmitProcessedFrame() [1/2]

void photon::PhotonCameraSim::SubmitProcessedFrame ( const PhotonPipelineResult & result )

◆ SubmitProcessedFrame() [2/2]

void photon::PhotonCameraSim::SubmitProcessedFrame	(	const PhotonPipelineResult &	result,
		uint64_t	ReceiveTimestamp )

Member Data Documentation

◆ prop

SimCameraProperties photon::PhotonCameraSim::prop

The documentation for this class was generated from the following file:

photon/simulation/PhotonCameraSim.h

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ PhotonCameraSim() [1/3]

◆ PhotonCameraSim() [2/3]

◆ PhotonCameraSim() [3/3]

Member Function Documentation

◆ CanSeeCorner()

◆ CanSeeTargetPose()

◆ ConsumeNextEntryTime()

◆ EnabledProcessedStream()

◆ EnableDrawWireframe()

◆ EnableRawStream()

◆ GetCamera()

◆ GetMaxSightRange()

◆ GetMinTargetAreaPercent()

◆ GetMinTargetAreaPixels()

◆ GetVideoSimFrameRaw()

◆ GetVideoSimRaw()

◆ Process()

◆ SetMaxSightRange()

◆ SetMinTargetAreaPercent()

◆ SetMinTargetAreaPixels()

◆ SetWireframeResolution()

◆ SubmitProcessedFrame() [1/2]

◆ SubmitProcessedFrame() [2/2]

Member Data Documentation

◆ prop