Package com.marswars.vision

Class MwVisionSim

java.lang.Object
com.marswars.vision.MwVisionSim
public class MwVisionSim extends Object
Handles PhotonVision simulation for generating vision data in simulation mode. Creates a simulated vision system with cameras and AprilTag field layout, and generates vision target data that can be integrated with the proxy server.

The vision system label is hard-coded to "proxy-vision-sim" for NetworkTables. The field layout must be specified at construction time and cannot be changed.

Usage Example:


 // Load the field layout
 AprilTagFieldLayout fieldLayout = AprilTagFieldLayout.loadField(
     AprilTagFields.k2025Reefscape
 );
 
 // Create vision simulation with the field layout
 VisionSimulation visionSim = new VisionSimulation(fieldLayout);
 
 // Or use the convenience constructor
 VisionSimulation visionSim = new VisionSimulation(AprilTagFields.k2025Reefscape);
 
 // Add default cameras (front, left, right, back)
 visionSim.addDefaultCameras();
 
 // Or add custom cameras
 Transform3d robotToCamera = new Transform3d(
     new Translation3d(0.5, 0, 0.3),
     new Rotation3d(0, Math.toRadians(-15), 0)
 );
 visionSim.addCamera("frontCamera", robotToCamera);
 
 // In periodic, update with robot pose
 visionSim.update(robotPose);
 
 // Get vision solutions
 List<TagSolutionData> solutions = visionSim.getTagSolutions(robotPose);

  • Constructor Details

    • MwVisionSim

      public MwVisionSim(AprilTagFieldLayout field_layout)
      Creates a new VisionSimulation with the specified field layout. The vision system will be labeled "proxy-vision-sim" in NetworkTables.
      Parameters:
      field_layout - the AprilTag field layout to use for the simulation

    • MwVisionSim

      public MwVisionSim(AprilTagFields field)
      Creates a new VisionSimulation with a predefined field layout. This is a convenience constructor that loads the field layout automatically. The vision system will be labeled "proxy-vision-sim" in NetworkTables.
      Parameters:
      field - the predefined AprilTag field (e.g., AprilTagFields.k2025Reefscape)

  • Method Details

    • addDefaultCameras

      public void addDefaultCameras()
      Adds a default set of four cameras positioned around the robot. Creates front, left, right, and back cameras at standard positions: - Front: 0.3m forward, 0.3m up, angled 20° down - Left: 0.3m left, 0.3m up, angled 20° down, facing 90° left - Right: 0.3m right, 0.3m up, angled 20° down, facing 90° right - Back: 0.3m back, 0.3m up, angled 20° down, facing 180° back All cameras use default camera properties.

    • addCamera

      public MwVisionSim.CameraSimulation addCamera(String camera_name, Transform3d robot_to_camera)
      Adds a simulated camera to the vision system.
      Parameters:
      camera_name - the name of the camera
      robot_to_camera - transform from robot center to camera
      Returns:
      the created CameraSimulation object

    • addCamera

      public MwVisionSim.CameraSimulation addCamera(String camera_name, org.photonvision.simulation.SimCameraProperties properties, Transform3d robot_to_camera, double max_sight_range)
      Adds a simulated camera with custom properties to the vision system.
      Parameters:
      camera_name - the name of the camera
      properties - the camera properties (resolution, FOV, noise, etc.)
      robot_to_camera - transform from robot center to camera
      max_sight_range - maximum sight range of the camera in meters
      Returns:
      the created CameraSimulation object

    • createDefaultCameraProperties

      public static org.photonvision.simulation.SimCameraProperties createDefaultCameraProperties()
      Creates default camera properties typical for FRC vision systems. - 960x720 resolution - 70 degree diagonal FOV - Minimal noise and latency for simulation - 30 FPS
      Returns:
      SimCameraProperties with default settings

    • update

      public void update(Pose2d robot_pose)
      Updates the vision simulation with the current robot pose. This should be called periodically (every robot loop) with the simulated robot pose.
      Parameters:
      robot_pose - the current simulated robot pose on the field

    • getCameras

      public List<MwVisionSim.CameraSimulation> getCameras()
      Gets all cameras in the simulation.
      Returns:
      list of all CameraSimulation objects

    • getVisionSim

      public org.photonvision.simulation.VisionSystemSim getVisionSim()
      Gets the vision system simulator.
      Returns:
      the VisionSystemSim instance

    • getFieldLayout

      public AprilTagFieldLayout getFieldLayout()
      Gets the AprilTag field layout being used.
      Returns:
      the AprilTagFieldLayout

    • getTagSolutions

      public List<TagSolutionPacket.TagSolutionData> getTagSolutions(Pose2d robot_pose)
      Extracts vision data from all cameras and converts to TagSolutionData format. This method processes the latest results from all simulated cameras and generates tag solution data compatible with the proxy server format.
      Parameters:
      robot_pose - the current robot pose (used for timestamp synchronization)
      Returns:
      list of TagSolutionData from all cameras with valid targets

    • adjustCamera

      public void adjustCamera(MwVisionSim.CameraSimulation camera_sim, Transform3d new_robot_to_camera)
      Adjusts a camera's transform relative to the robot. Useful for simulating moving mechanisms like turrets.
      Parameters:
      camera_sim - the camera simulation to adjust
      new_robot_to_camera - the new transform from robot to camera

    • enableRawStream

      public void enableRawStream(boolean enable)
      Enables or disables the raw camera stream for all cameras. The raw stream shows the original camera feed without any processing overlay. Disabled by default to reduce overhead.
      Parameters:
      enable - true to enable the raw stream, false to disable

    • enableProcessedStream

      public void enableProcessedStream(boolean enable)
      Enables or disables the processed camera stream for all cameras. The processed stream shows the camera feed with vision processing overlays (e.g., detected targets). Disabled by default to reduce overhead.
      Parameters:
      enable - true to enable the processed stream, false to disable