photonlibpy.simulation.photonCameraSim

PhotonCameraSim

A handle for simulating :class:.PhotonCamera values. Processing simulated targets through this class will change the associated PhotonCamera's results.

__init__(camera, props=SimCameraProperties.PERFECT_90DEG(), tagLayout=AprilTagFieldLayout.loadField(AprilTagField.kDefaultField), minTargetAreaPercent=None, maxSightRange=None)

Constructs a handle for simulating :class:.PhotonCamera values. Processing simulated targets through this class will change the associated PhotonCamera's results.

By default, this constructor's camera has a 90 deg FOV with no simulated lag if props! By default, the minimum target area is 100 pixels and there is no maximum sight range unless both params are passed to override.

Parameters:

Name	Type	Description	Default
camera	PhotonCamera	The camera to be simulated	required
prop		Properties of this camera such as FOV and FPS	required
minTargetAreaPercent	float | None	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.	None
maxSightRangeMeters		Maximum distance at which the target is illuminated to your camera. Note that minimum target area of the image is separate from this.	required

canSeeCorner(points)

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

Parameters:

Name	Type	Description	Default
points	ndarray	The target's 2d image points	required

canSeeTargetPose(camPose, 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:

Name	Type	Description	Default
camPose	Pose3d	Camera's 3d pose	required
target	VisionTargetSim	Vision target containing pose and shape	required

Returns:

Type	Description
bool	If this vision target can be seen before image projection.

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 float of the timestamp in seconds of when the frame which should be received by NT. If a timestamp is returned, the last frame update time becomes that timestamp.

Returns:

Type	Description
float | None	Optional float which is empty while blocked or the NT entry timestamp in seconds if ready

enableDrawWireframe(enabled)

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

Note: This will dramatically increase loop times.

enableProcessedStream(enabled)

Sets whether the processed video stream simulation is enabled.

enableRawStream(enabled)

Sets whether the raw video stream simulation is enabled.

Note: This may increase loop times.

setMaxSightRange(range)

Maximum distance at which the target is illuminated to your camera. Note that minimum target area of the image is separate from this.

setMinTargetAreaPercent(areaPercent)

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

setMinTargetAreaPixels(areaPx)

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

setWireframeResolution(resolution)

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:

Name	Type	Description	Default
resolution	float	Resolution as a fraction(0 - 1) of the video frame's diagonal length in pixels	required

submitProcessedFrame(result, receiveTimestamp_us=None)

Simulate one processed frame of vision data, putting one result to NT. Image capture timestamp overrides :meth:.PhotonPipelineResult.getTimestampSeconds for more precise latency simulation.

Parameters:

Name	Type	Description	Default
result	PhotonPipelineResult	The pipeline result to submit	required
receiveTimestamp		The (sim) timestamp when this result was read by NT in microseconds. If not passed image capture time is assumed be (current time - latency)	required