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)
	Gets the points representing the corners of this image.

static std::vector< cv::Point2f >	Get36h11MarkerPts (int scale)
	Gets the points representing the marker(black square) corners.

static std::vector< cv::Point2f >	Get36h11MarkerPts ()
	Gets the points representing the marker(black square) corners.

static void	UpdateVideoProp (cs::CvSource &video, const SimCameraProperties &prop)
	Updates the properties of this cs::CvSource video stream with the given camera properties.

static void	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	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	DrawInscribedEllipse (const std::vector< cv::Point2f > &dstPoints, const cv::Scalar &color, cv::Mat &destination)
	Draw a filled ellipse in the destination image.

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)
	Draws a contour around the given points and text of the id onto the destination image.

static std::vector< std::vector< frc::Translation3d > >	GetFieldWallLines ()
	The translations used to draw the field side walls and driver station walls.

static std::vector< std::vector< frc::Translation3d > >	GetFieldFloorLines (int subdivisions)
	The translations used to draw the field floor subdivisions (not the floor outline).

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)
	Convert 3D lines represented by the given series of translations into a polygon(s) in the camera's image.

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)
	Draw a wireframe of the field to the given image.

Variables
static constexpr int	kNumTags36h11 = 40

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

Draw a wireframe of the field to the given image.

Parameters

camRt	The change in basis from world coordinates to camera coordinates. See RotTrlTransform3d#makeRelativeTo(frc::Pose3d).
prop	The simulated camera's properties.
resolution	Resolution as a fraction(0 - 1) of the video frame's diagonal length in pixels. Line segments will be subdivided if they exceed this resolution.
wallThickness	Thickness of the lines used for drawing the field walls in pixels. This is scaled by #getScaledThickness(double, cv::Mat).
wallColor	Color of the lines used for drawing the field walls.
floorSubdivisions	A NxN "grid" is created from the floor where this parameter is N, which defines the floor lines.
floorThickness	Thickness of the lines used for drawing the field floor grid in pixels. This is scaled by #getScaledThickness(double, cv::Mat).
floorColor	Color of the lines used for drawing the field floor grid.
destination	The destination image to draw to.

◆ DrawInscribedEllipse()

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

static

Draw a filled ellipse in the destination image.

Parameters

dstPoints	The points in the destination image representing the rectangle in which the ellipse is inscribed.
color	The color of the ellipse. This is a scalar with BGR values (0-255)
destination	The destination image to draw onto. The image should be in the BGR color space.

◆ 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

Draws a contour around the given points and text of the id onto the destination image.

Parameters

id	Fiducial ID number to draw
dstPoints	Points representing the four corners of the tag marker(black square) in the destination image.
destination	The destination image to draw onto. The image should be in the BGR color space.

◆ Get36h11MarkerPts() [1/2]

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

static

Gets the points representing the marker(black square) corners.

Returns: The points

◆ Get36h11MarkerPts() [2/2]

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

static

Gets the points representing the marker(black square) corners.

Parameters

scale The scale of the tag image (10*scale x 10*scale image)

Returns: The points

◆ Get36h11TagImage()

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

static

◆ GetFieldFloorLines()

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

static

The translations used to draw the field floor subdivisions (not the floor outline).

It is a vector of vectors because the translations are not all connected.

Parameters

subdivisions How many "subdivisions" along the width/length of the floor. E.g. 3 subdivisions would mean 2 lines along the length and 2 lines along the width creating a 3x3 "grid".

◆ GetFieldWallLines()

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

static

The translations used to draw the field side walls and driver station walls.

It is a vector of vectors because the translations are not all connected.

◆ GetImageCorners()

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

static

Gets the points representing the corners of this image.

Because image pixels are accessed through a cv::Mat, the point (0,0) actually represents the center of the top-left pixel and not the actual top-left corner.

Order of corners returned is: [BL, BR, TR, TL]

Parameters

size	Size of image

Returns: The corners

◆ GetScaledThickness()

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

static

Given a line thickness in a 640x480 image, try to scale to the given destination image resolution.

Parameters

thickness480p	A hypothetical line thickness in a 640x480 image
destination	The destination image to scale to

Returns: Scaled thickness which cannot be less than 1

◆ 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

Convert 3D lines represented by the given series of translations into a polygon(s) in the camera's image.

Parameters

camRt	The change in basis from world coordinates to camera coordinates. See RotTrlTransform3d#makeRelativeTo(Pose3d).
prop	The simulated camera's properties.
trls	A sequential series of translations defining the polygon to be drawn.
resolution	Resolution as a fraction(0 - 1) of the video frame's diagonal length in pixels. Line segments will be subdivided if they exceed this resolution.
isClosed	If the final translation should also draw a line to the first translation.
destination	The destination image that is being drawn to.

Returns: A list of polygons(which are an array of points)

◆ UpdateVideoProp()

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

static

Updates the properties of this cs::CvSource video stream with the given camera properties.

◆ Warp165h5TagImage()

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

static

Warps the image of a specific 36h11 AprilTag onto the destination image at the given points.

Parameters

tagId	The id of the specific tag to warp onto the destination image
dstPoints	Points(4) in destination image where the tag marker(black square) corners should be warped onto.
antialiasing	If antialiasing should be performed by automatically supersampling/interpolating the warped image. This should be used if better stream quality is desired or target detection is being done on the stream, but can hurt performance.
destination	The destination image to place the warped tag image onto.

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 = 40

staticconstexpr

◆ kTag36h11Images

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

static

Initial value:

=

LoadAprilTagImages()

photon::VideoSimUtil::LoadAprilTagImages

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

Definition VideoSimUtil.h:69

◆ kTag36h11MarkPts

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

static

Functions

Variables

Function Documentation

◆ DrawFieldWireFrame()

◆ DrawInscribedEllipse()

◆ DrawPoly()

◆ DrawTagDetection()

◆ Get36h11MarkerPts() [1/2]

◆ Get36h11MarkerPts() [2/2]

◆ Get36h11TagImage()

◆ GetFieldFloorLines()

◆ GetFieldWallLines()

◆ GetImageCorners()

◆ GetScaledThickness()

◆ LoadAprilTagImages()

◆ PolyFrom3dLines()

◆ UpdateVideoProp()

◆ Warp165h5TagImage()

Variable Documentation

◆ fieldLength

◆ fieldWidth

◆ kNumTags36h11

◆ kTag36h11Images

◆ kTag36h11MarkPts