mirror of
https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
synced 2026-06-09 00:28:06 -06:00
astatin3
83 lines
3.3 KiB
Java
83 lines
3.3 KiB
Java
/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package frc.robot;
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import static frc.robot.Constants.Vision.*;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.wpilibj.smartdashboard.Field2d;
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import org.photonvision.PhotonCamera;
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import org.photonvision.simulation.PhotonCameraSim;
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import org.photonvision.simulation.SimCameraProperties;
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import org.photonvision.simulation.VisionSystemSim;
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public class VisionSim {
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// Simulation
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private PhotonCameraSim cameraSim;
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private VisionSystemSim visionSim;
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public VisionSim(PhotonCamera cam_in) {
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// ----- Simulation
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if (Robot.isSimulation()) {
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// Create the vision system simulation which handles cameras and targets on the field.
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visionSim = new VisionSystemSim("main");
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// Add all the AprilTags inside the tag layout as visible targets to this simulated field.
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visionSim.addAprilTags(kTagLayout);
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// Create simulated camera properties. These can be set to mimic your actual camera.
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var cameraProp = new SimCameraProperties();
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cameraProp.setCalibration(320, 240, Rotation2d.fromDegrees(90));
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cameraProp.setCalibError(0.35, 0.10);
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cameraProp.setFPS(70);
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cameraProp.setAvgLatencyMs(30);
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cameraProp.setLatencyStdDevMs(10);
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// Create a PhotonCameraSim which will update the linked PhotonCamera's values with visible
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// targets.
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cameraSim = new PhotonCameraSim(cam_in, cameraProp);
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// Add the simulated camera to view the targets on this simulated field.
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visionSim.addCamera(cameraSim, kRobotToCam);
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cameraSim.enableDrawWireframe(true);
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}
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}
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// ----- Simulation
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public void simulationPeriodic(Pose2d robotSimPose) {
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visionSim.update(robotSimPose);
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}
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/** Reset pose history of the robot in the vision system simulation. */
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public void resetSimPose(Pose2d pose) {
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if (Robot.isSimulation()) visionSim.resetRobotPose(pose);
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}
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/** A Field2d for visualizing our robot and objects on the field. */
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public Field2d getSimDebugField() {
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if (!Robot.isSimulation()) return null;
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return visionSim.getDebugField();
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}
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}
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