photonlibpy.simulation.visionSystemSim

VisionSystemSim

A simulated vision system involving a camera(s) and coprocessor(s) mounted on a mobile robot running PhotonVision, detecting targets placed on the field. :class:.VisionTargetSims added to this class will be detected by the :class:.PhotonCameraSims added to this class. This class should be updated periodically with the robot's current pose in order to publish the simulated camera target info.

__init__(visionSystemName)

A simulated vision system involving a camera(s) and coprocessor(s) mounted on a mobile robot running PhotonVision, detecting targets placed on the field. :class:.VisionTargetSims added to this class will be detected by the :class:.PhotonCameraSims added to this class. This class should be updated periodically with the robot's current pose in order to publish the simulated camera target info.

Parameters:

Name	Type	Description	Default
visionSystemName	str	The specific identifier for this vision system in NetworkTables.	required

addAprilTags(layout)

Adds targets on the field which your vision system is designed to detect. The {@link PhotonCamera}s simulated from this system will report the location of the camera relative to the subset of these targets which are visible from the given camera position.

The AprilTags from this layout will be added as vision targets under the type "apriltag". The poses added preserve the tag layout's current alliance origin. If the tag layout's alliance origin is changed, these added tags will have to be cleared and re-added.

Parameters:

Name	Type	Description	Default
tagLayout		The field tag layout to get Apriltag poses and IDs from	required

addCamera(cameraSim, robotToCamera)

Adds a simulated camera to this vision system with a specified robot-to-camera transformation. The vision targets registered with this vision system simulation will be observed by the simulated :class:.PhotonCamera.

Parameters:

Name	Type	Description	Default
cameraSim	PhotonCameraSim	The camera simulation	required
robotToCamera	Transform3d	The transform from the robot pose to the camera pose	required

addVisionTargets(targets, targetType='targets')

Adds targets on the field which your vision system is designed to detect. The {@link PhotonCamera}s simulated from this system will report the location of the camera relative to the subset of these targets which are visible from the given camera position.

Parameters:

Name	Type	Description	Default
targets	list[VisionTargetSim]	Targets to add to the simulated field	required
type		Type of target (e.g. "cargo").	required

adjustCamera(cameraSim, robotToCamera)

Adjust a camera's position relative to the robot. Use this if your camera is on a gimbal or turret or some other mobile platform.

Parameters:

Name	Type	Description	Default
cameraSim	PhotonCameraSim	The simulated camera to change the relative position of	required
robotToCamera	Transform3d	New transform from the robot to the camera	required

Returns:

Type	Description
bool	If the cameraSim was valid and transform was adjusted

clearCameras()

Remove all simulated cameras from this vision system.

getCameraPose(cameraSim, time=wpilib.Timer.getFPGATimestamp())

Get a simulated camera's position on the field. If the requested camera is invalid, an empty optional is returned.

Parameters:

Name	Type	Description	Default
cameraSim	PhotonCameraSim	The specific camera to get the field pose of	required

Returns:

Type	Description
Pose3d | None	The pose of this camera, or an empty optional if it is invalid

getCameraSim(name)

Get one of the simulated cameras.

getCameraSims()

Get all the simulated cameras.

getRobotPose(timestamp=wpilib.Timer.getFPGATimestamp())

Get the robot pose in meters saved by the vision system at this timestamp.

Parameters:

Name	Type	Description	Default
timestamp	seconds	Timestamp of the desired robot pose	getFPGATimestamp()

getRobotToCamera(cameraSim, time=wpilib.Timer.getFPGATimestamp())

Get a simulated camera's position relative to the robot. If the requested camera is invalid, an empty optional is returned.

Parameters:

Name	Type	Description	Default
cameraSim	PhotonCameraSim	The specific camera to get the robot-to-camera transform of	required
timeSeconds		Timestamp in seconds of when the transform should be observed	required

Returns:

Type	Description
Transform3d | None	The transform of this camera, or an empty optional if it is invalid

removeCamera(cameraSim)

Remove a simulated camera from this vision system.

Returns:

Type	Description
bool	If the camera was present and removed

resetCameraTransforms(cameraSim=None)

Reset the transform history for this camera to just the current transform.

resetRobotPose(robotPose)

Clears all previous robot poses and sets robotPose at current time.

update(robotPose)

Periodic update. Ensure this is called repeatedly-- camera performance is used to automatically determine if a new frame should be submitted.

Parameters:

Name	Type	Description	Default
robotPoseMeters		The simulated robot pose in meters	required