Package com.marslib.vision

Class FrustumVisualizer

java.lang.Object

com.marslib.vision.FrustumVisualizer

public class FrustumVisualizer
extends Object

Frustum Visualizer for AdvantageScope 3D telemetry.

Intercepts the physical limits (FOV) of simulated cameras (e.g., Limelight) and structurally casts their bounding boxes into a WPILib Pose3d array. This array is natively logged using AdvantageKit and renders semi-transparent lines in the simulator showing mathematically exactly where the camera can see.

Constructor Summary

Constructors

Constructor	Description
FrustumVisualizer(double horizontalFovDeg, double verticalFovDeg, double rangeMeters)	Generate an array of 5 3D poses representing a visual cone/frustum.

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.geometry.Pose3d[]	update(edu.wpi.first.math.geometry.Pose3d cameraPose)

Methods inherited from class java.lang.Object

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

Constructor Details

FrustumVisualizer

public FrustumVisualizer(double horizontalFovDeg,
 double verticalFovDeg,
 double rangeMeters)

Generate an array of 5 3D poses representing a visual cone/frustum.

Parameters:

horizontalFovDeg - The horizontal FOV in degrees (e.g. Limelight 3 = 63.3)

verticalFovDeg - The vertical FOV in degrees (e.g. Limelight 3 = 49.7)

rangeMeters - How far out to draw the bounding rays in meters.

Method Details

update

public edu.wpi.first.math.geometry.Pose3d[] update(edu.wpi.first.math.geometry.Pose3d cameraPose)