Package org.photonvision.simulation

Class VisionTargetSim

java.lang.Object

org.photonvision.simulation.VisionTargetSim

public class VisionTargetSim
extends Object

Describes a vision target located somewhere on the field that your vision system can detect.

Field Summary

Fields

Modifier and Type	Field	Description
final int	fiducialID
final int	objDetClassId	The object detection class ID, or -1 if not applicable.
final float	objDetConf	The object detection confidence, or -1 if not applicable.

Constructor Summary

Constructors

Constructor	Description
VisionTargetSim(Pose3d pose, TargetModel model)	Describes a retro-reflective/colored shape vision target located somewhere on the field that your vision system can detect.
VisionTargetSim(Pose3d pose, TargetModel model, int id)	Describes a fiducial tag located somewhere on the field that your vision system can detect.
VisionTargetSim(Pose3d pose, TargetModel model, int objDetClassId, float objDetConf)	Describes an object-detection vision target located somewhere on the field that your vision system can detect.

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object obj)
List<Translation3d>	getFieldVertices()	This target's vertices offset from its field pose.
TargetModel	getModel()	Returns the model describing this target's geometry.
Pose3d	getPose()	Returns the pose of this target on the field.
void	setModel(TargetModel model)	Sets the model describing this target's geometry.
void	setPose(Pose3d pose)	Sets the pose of this target on the field.

Methods inherited from class java.lang.Object

clone, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

fiducialID

public final int fiducialID

objDetClassId

public final int objDetClassId

The object detection class ID, or -1 if not applicable.

objDetConf

public final float objDetConf

The object detection confidence, or -1 if not applicable.

Constructor Details

VisionTargetSim

public VisionTargetSim(Pose3d pose,
 TargetModel model)

Describes a retro-reflective/colored shape vision target located somewhere on the field that your vision system can detect.

Parameters:

pose - Pose3d of the tag in field-relative coordinates

model - TargetModel which describes the geometry of the target

VisionTargetSim

public VisionTargetSim(Pose3d pose,
 TargetModel model,
 int id)

Describes a fiducial tag located somewhere on the field that your vision system can detect.

Parameters:

pose - Pose3d of the tag in field-relative coordinates

model - TargetModel which describes the geometry of the target(tag)

id - The ID of this fiducial tag

VisionTargetSim

public VisionTargetSim(Pose3d pose,
 TargetModel model,
 int objDetClassId,
 float objDetConf)

Describes an object-detection vision target located somewhere on the field that your vision system can detect. Class ID is the (zero-indexed) index of the object's class ID in the list of all classes. Confidence can be specified, or pass -1 to estimate confidence based on 2 * sqrt(target area / total image area)

Parameters:

pose - Pose3d of the target in field-relative coordinates

model - TargetModel which describes the geometry of the target

objDetClassId - The object detection class ID, if -1 it will not be detected by object detection

objDetConf - The object detection confidence, or -1 in which case the simulation will compute a confidence based on the area of the target in the camera's field of view

Method Details

setPose

public void setPose(Pose3d pose)

Sets the pose of this target on the field.

Parameters:

pose - The pose in field-relative coordinates

setModel

public void setModel(TargetModel model)

Sets the model describing this target's geometry.

Parameters:

model - The model of the target

getPose

public Pose3d getPose()

Returns the pose of this target on the field.

Returns:

The pose in field-relative coordinates

getModel

public TargetModel getModel()

Returns the model describing this target's geometry.

Returns:

The model of the target

getFieldVertices

public List<Translation3d> getFieldVertices()

This target's vertices offset from its field pose.

Returns:

A vector of Translation3d representing the vertices of the target

equals

public boolean equals(Object obj)

Overrides:

equals in class Object