Added constructor overload to PhotonCameraSim for AprilTagFieldLayout (#1692)

Author: JochemvdBroek

photon-lib/py/photonlibpy/simulation/photonCameraSim.py

@@ -36,6 +36,9 @@ def __init__(
         self,
         camera: PhotonCamera,
         props: SimCameraProperties = SimCameraProperties.PERFECT_90DEG(),
+        tagLayout: AprilTagFieldLayout = AprilTagFieldLayout.loadField(
+            AprilTagField.kDefaultField
+        ),
         minTargetAreaPercent: float | None = None,
         maxSightRange: meters | None = None,
     ):
@@ -64,7 +67,7 @@ def __init__(
         self.videoSimProcEnabled: bool = False
         self.heartbeatCounter: int = 0
         self.nextNtEntryTime = wpilib.Timer.getFPGATimestamp()
-        self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.kDefaultField)
+        self.tagLayout = tagLayout
 
         self.cam = camera
         self.prop = props

photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java

@@ -81,8 +81,7 @@ public class PhotonCameraSim implements AutoCloseable {
     private double minTargetAreaPercent;
     private PhotonTargetSortMode sortMode = PhotonTargetSortMode.Largest;
 
-    private final AprilTagFieldLayout tagLayout =
-            AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
+    private final AprilTagFieldLayout tagLayout;
 
     // video stream simulation
     private final CvSource videoSimRaw;
@@ -130,8 +129,24 @@ public PhotonCameraSim(PhotonCamera camera) {
      * @param prop Properties of this camera such as FOV and FPS
      */
     public PhotonCameraSim(PhotonCamera camera, SimCameraProperties prop) {
+        this(camera, prop, AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField));
+    }
+
+    /**
+     * Constructs a handle for simulating {@link PhotonCamera} values. Processing simulated targets
+     * through this class will change the associated PhotonCamera's results.
+     *
+     * <p>By default, the minimum target area is 100 pixels and there is no maximum sight range.
+     *
+     * @param camera The camera to be simulated
+     * @param prop Properties of this camera such as FOV and FPS
+     * @param tagLayout The {@link AprilTagFieldLayout} used to solve for tag positions.
+     */
+    public PhotonCameraSim(
+            PhotonCamera camera, SimCameraProperties prop, AprilTagFieldLayout tagLayout) {
         this.cam = camera;
         this.prop = prop;
+        this.tagLayout = tagLayout;
         setMinTargetAreaPixels(kDefaultMinAreaPx);
 
         videoSimRaw =
@@ -163,6 +178,30 @@ public PhotonCameraSim(
             SimCameraProperties prop,
             double minTargetAreaPercent,
             double maxSightRangeMeters) {
+        this(camera, prop, AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField));
+        this.minTargetAreaPercent = minTargetAreaPercent;
+        this.maxSightRangeMeters = maxSightRangeMeters;
+    }
+
+    /**
+     * Constructs a handle for simulating {@link PhotonCamera} values. Processing simulated targets
+     * through this class will change the associated PhotonCamera's results.
+     *
+     * @param camera The camera to be simulated
+     * @param prop Properties of this camera such as FOV and FPS
+     * @param minTargetAreaPercent 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.
+     * @param maxSightRangeMeters Maximum distance at which the target is illuminated to your camera.
+     *     Note that minimum target area of the image is separate from this.
+     * @param tagLayout AprilTag field layout to use for multi-tag estimation
+     */
+    public PhotonCameraSim(
+            PhotonCamera camera,
+            SimCameraProperties prop,
+            double minTargetAreaPercent,
+            double maxSightRangeMeters,
+            AprilTagFieldLayout tagLayout) {
         this(camera, prop);
         this.minTargetAreaPercent = minTargetAreaPercent;
         this.maxSightRangeMeters = maxSightRangeMeters;

photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp

@@ -29,12 +29,19 @@
 #include <utility>
 #include <vector>
 
+#include <frc/apriltag/AprilTagFieldLayout.h>
+#include <frc/apriltag/AprilTagFields.h>
+
 namespace photon {
 PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera)
-    : PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG()) {}
+    : PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG(),
+                      frc::AprilTagFieldLayout::LoadField(
+                          frc::AprilTagField::kDefaultField)) {}
+
 PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera,
-                                 const SimCameraProperties& props)
-    : prop(props), cam(camera) {
+                                 const SimCameraProperties& props,
+                                 const frc::AprilTagFieldLayout& tagLayout)
+    : prop{props}, cam{camera}, tagLayout{tagLayout} {
   SetMinTargetAreaPixels(kDefaultMinAreaPx);
   videoSimRaw =
       frc::CameraServer::PutVideo(std::string{camera->GetCameraName()} + "-raw",
@@ -46,6 +53,7 @@ PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera,
   ts.subTable = cam->GetCameraTable();
   ts.UpdateEntries();
 }
+
 PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera,
                                  const SimCameraProperties& props,
                                  double minTargetAreaPercent,

photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h

@@ -50,7 +50,10 @@ namespace photon {
 class PhotonCameraSim {
  public:
   explicit PhotonCameraSim(PhotonCamera* camera);
-  PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props);
+  PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props,
+                  const frc::AprilTagFieldLayout& tagLayout =
+                      frc::AprilTagFieldLayout::LoadField(
+                          frc::AprilTagField::kDefaultField));
   PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props,
                   double minTargetAreaPercent, units::meter_t maxSightRange);
 
@@ -107,8 +110,7 @@ class PhotonCameraSim {
   static constexpr double kDefaultMinAreaPx{100};
   double minTargetAreaPercent;
 
-  frc::AprilTagFieldLayout tagLayout{
-      frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};
+  frc::AprilTagFieldLayout tagLayout;
 
   cs::CvSource videoSimRaw;
   cv::Mat videoSimFrameRaw{};