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High fidelity vision sim per Issue 197 #227

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High fidelity vision sim per Issue 197 #227

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6ff7360
trying to add switch for high fed vision sim
koolpoolo Apr 14, 2026
195d535
getting rid of extra semicolon
koolpoolo Apr 15, 2026
f9f8a3c
Apply suggestion from @gemini-code-assist[bot]
koolpoolo Apr 15, 2026
09ce489
added the full high fidelity constants
koolpoolo Apr 15, 2026
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2 changes: 2 additions & 0 deletions build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ def getProjectBooleanProperty(String name, boolean defaultValue = false) {
}

def ROBOT_MAIN_CLASS = getProjectBooleanProperty('automatedTest') ? "frc.robot.test.AutomatedTestMain" : "frc.robot.Main"
def HIGH_FIDELITY_VISION = getProjectBooleanProperty('highFidelityVision')

// Define my targets (RoboRIO) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
Expand Down Expand Up @@ -131,6 +132,7 @@ tasks.withType(JavaCompile) {
tasks.withType(JavaExec).configureEach {
if (name.toLowerCase().contains("simulate")) {
jvmArgs "-Xmx2G", "-Xms2G"
systemProperty 'highFidelityVision', HIGH_FIDELITY_VISION
}
}

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17 changes: 15 additions & 2 deletions src/main/java/frc/robot/sim/visionproducers/VisionSim.java
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Expand Up @@ -24,7 +24,20 @@

package frc.robot.sim.visionproducers;

import static frc.robot.sim.visionproducers.VisionSimConstants.*;
import static frc.robot.sim.visionproducers.VisionSimConstants.kAvgDistTolerance;
import static frc.robot.sim.visionproducers.VisionSimConstants.kAvgLatencyMs;
import static frc.robot.sim.visionproducers.VisionSimConstants.kCalibErrorAvg;
import static frc.robot.sim.visionproducers.VisionSimConstants.kCalibErrorStdDev;
import static frc.robot.sim.visionproducers.VisionSimConstants.kCameraFOVDegrees;
import static frc.robot.sim.visionproducers.VisionSimConstants.kCameraFPS;
import static frc.robot.sim.visionproducers.VisionSimConstants.kCameraResHeight;
import static frc.robot.sim.visionproducers.VisionSimConstants.kCameraResWidth;
import static frc.robot.sim.visionproducers.VisionSimConstants.kLatencyStdDevMs;
import static frc.robot.sim.visionproducers.VisionSimConstants.kMaxSightRangeMeters;
import static frc.robot.sim.visionproducers.VisionSimConstants.kMinTargetAreaPixels;
import static frc.robot.sim.visionproducers.VisionSimConstants.kMultiTagStdDevs;
import static frc.robot.sim.visionproducers.VisionSimConstants.kSingleTagStdDevs;
import static frc.robot.sim.visionproducers.VisionSimConstants.kTagLayout;

import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
Expand Down Expand Up @@ -178,7 +191,7 @@ private void updateEstimationStdDevs(
}

// Increase std devs based on (average) distance
if (numTags == 1 && avgDist > 1.3) {
if (numTags == 1 && avgDist > kAvgDistTolerance) {
estStdDevs = VecBuilder.fill(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE);
} else {
estStdDevs = estStdDevs.times(1 + (avgDist * avgDist / 3.33));
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20 changes: 15 additions & 5 deletions src/main/java/frc/robot/sim/visionproducers/VisionSimConstants.java
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Expand Up @@ -22,17 +22,27 @@ public class VisionSimConstants {
public static final Matrix<N3, N1> kSingleTagStdDevs = VecBuilder.fill(4, 4, 8);
public static final Matrix<N3, N1> kMultiTagStdDevs = VecBuilder.fill(0.5, 0.5, 1);

// High-fidelity vision simulation flag (set via -PhighFidelityVision=true in build.gradle)
private static final boolean kHighFidelityVision =
Boolean.parseBoolean(System.getProperty("highFidelityVision", "false"));

// Camera simulation properties (shared by all cameras — all cameras are identical)
public static final int kCameraResWidth = 320;
public static final int kCameraResHeight = 240;
// Low-fidelity (default): 320x240, high-fidelity (LimeLight-like): 1280x800
public static final int kCameraResWidth = kHighFidelityVision ? 1280 : 320;
public static final int kCameraResHeight = kHighFidelityVision ? 800 : 240;
public static final double kCameraFOVDegrees = 90.0;
public static final double kCalibErrorAvg = 0.12;
public static final double kCalibErrorStdDev = 0.035;
// Since camera res width and height are not exactly scaled the same
// we take the geometric mean of the both of the scalars then multiply by the old numbers
public static final double kCalibErrorAvg = kHighFidelityVision ? 0.44 : 0.12;
public static final double kCalibErrorStdDev = kHighFidelityVision ? 0.13 : 0.035;
public static final double kCameraFPS = 15;
public static final double kAvgLatencyMs = 50;
public static final double kLatencyStdDevMs = 15;
public static final double kMinTargetAreaPixels = 10.0;
// except for this line below due to pixels being a square
public static final double kMinTargetAreaPixels = kHighFidelityVision ? 133.0 : 10.0;
public static final double kMaxSightRangeMeters = 3.0;
public static final double kAvgDistTolerance = kHighFidelityVision ? 4.78 : 1.3;
public static final double kAvgDistVarianceScale = kHighFidelityVision ? 12.2 : 3.33;

/** Per-camera configuration for vision simulation. */
public record VisionConfig(
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