Class Limelight.LimelightResults

java.lang.Object
com.limelightvision.Limelight.LimelightResults
Enclosing class:
Limelight
public static class Limelight.LimelightResults extends Object
The complete decoded results for one frame. All fields come from one MessagePack payload.

  • Field Details

    • valid

      public boolean valid
      True if at least one target is valid in this frame.

    • timestampMillis

      public double timestampMillis
      Legacy timestamp in milliseconds since vision-process boot.

    • timestampMicros

      public long timestampMicros
      Microseconds since vision-process boot.

    • systemTimestampMicros

      public long systemTimestampMicros
      System wall-clock time in microseconds since epoch.

    • ntTimestampMicros

      public long ntTimestampMicros
      NetworkTables server time in microseconds. 0 if the camera is not connected to a server

    • frameIndex

      public long frameIndex
      Frame counter starting at 0, or -1 before the first frame.

    • targetingLatencyMillis

      public double targetingLatencyMillis
      Targeting/pipeline latency in milliseconds.

    • captureLatencyMillis

      public double captureLatencyMillis
      Capture latency in milliseconds.

    • pipelineIndex

      public double pipelineIndex
      Active pipeline index.

    • pipelineType

      public String pipelineType
      Active pipeline type (e.g. "pipe_fiducial")

    • focusMetric

      public double focusMetric
      Focus metric for focus-assist.

    • stdDevsMT1

      public double[] stdDevsMT1
      Camera-reported MegaTag1 standard deviations [x, y, z, roll, pitch, yaw]. The camera averages these over a long window. Use for telemetry only. Do not use for fusion

    • stdDevsMT2

      public double[] stdDevsMT2
      Camera-reported MegaTag2 standard deviations [x, y, z, roll, pitch, yaw]. The camera averages these over a long window. Use for telemetry only. Do not use for fusion

    • robotPoseMT1

      public double[] robotPoseMT1
      MegaTag1 robot pose in field space [x, y, z, roll, pitch, yaw] (meters, degrees).

    • robotPoseMT1WpiRed

      public double[] robotPoseMT1WpiRed
      MegaTag1 robot pose, WPILib red-alliance coordinate system.

    • robotPoseMT1WpiBlue

      public double[] robotPoseMT1WpiBlue
      MegaTag1 robot pose, WPILib blue-alliance coordinate system.

    • robotPoseMT2

      public double[] robotPoseMT2
      MegaTag2 robot pose in field space.

    • robotPoseMT2WpiRed

      public double[] robotPoseMT2WpiRed
      MegaTag2 robot pose, WPILib red-alliance coordinate system.

    • robotPoseMT2WpiBlue

      public double[] robotPoseMT2WpiBlue
      MegaTag2 robot pose, WPILib blue-alliance coordinate system.

    • reportedTagCount

      public int reportedTagCount
      Number of AprilTags contributing to the botpose estimates.

    • tagSpanMeters

      public double tagSpanMeters
      Max distance between contributing tags in meters.

    • avgTagDistanceMeters

      public double avgTagDistanceMeters
      Average distance to contributing tags in meters.

    • avgTagAreaPercent

      public double avgTagAreaPercent
      Average area of contributing tags (percentage of image).

    • cameraPoseRobotSpace

      public double[] cameraPoseRobotSpace
      Final camera pose in robot space [x, y, z, roll, pitch, yaw] (meters, degrees).

    • pythonOutput

      public double[] pythonOutput
      Data set by a python snapscript via llpython.

    • txDegrees

      public double txDegrees
      Horizontal offset from crosshair to primary target in degrees.

    • tyDegrees

      public double tyDegrees
      Vertical offset from crosshair to primary target in degrees.

    • txDegreesNoCrosshair

      public double txDegreesNoCrosshair
      Horizontal offset from principal pixel to primary target in degrees.

    • tyDegreesNoCrosshair

      public double tyDegreesNoCrosshair
      Vertical offset from principal pixel to primary target in degrees.

    • targetAreaPercent

      public double targetAreaPercent
      Primary target area (percentage of image, 0-100).

    • targetDistanceMeters

      public double targetDistanceMeters
      3D distance from camera to primary target in meters.

    • retroTargets

      public Limelight.RetroTarget[] retroTargets

    • fiducialTargets

      public Limelight.FiducialTarget[] fiducialTargets

    • detectorTargets

      public Limelight.DetectorTarget[] detectorTargets

    • classifierTargets

      public Limelight.ClassifierTarget[] classifierTargets

    • classifierTargetsRejected

      public Limelight.ClassifierTarget[] classifierTargetsRejected
      Classifier results below the confidence threshold. For visualization and debugging

    • barcodeTargets

      public Limelight.BarcodeTarget[] barcodeTargets

    • counterTargets

      public Limelight.CounterTarget[] counterTargets

    • ocrTargets

      public Limelight.OCRTarget[] ocrTargets

    • imu

      public Limelight.IMUData imu

    • hardware

      public Limelight.HardwareData hardware

    • rewind

      public Limelight.RewindData rewind

    • robotOrientation

      public Limelight.RobotOrientationData robotOrientation

    • intrinsics

      public Limelight.CameraIntrinsics intrinsics

    • imageSource

      public int imageSource
      Image source index.

    • hardwareType

      public int hardwareType
      Hardware type identifier.

    • uiRefresh

      public int uiRefresh
      UI refresh counter.

    • ignoreNT

      public boolean ignoreNT
      True if the camera is ignoring NetworkTables input.

    • ntConnected

      public boolean ntConnected
      True if the camera is connected to a NetworkTables server.

    • pipelineConfigurationOverrideActive

      public boolean pipelineConfigurationOverrideActive
      True if the camera is running a robot-published pipeline configuration override.

    • pipelineConfigurationOverrideState

      public Limelight.PipelineConfigurationOverrideState pipelineConfigurationOverrideState
      Pipeline configuration override state reported by the camera.

    • sharedMapActive

      public boolean sharedMapActive
      True if the camera is localizing against the robot-published shared field map.

    • sharedMapState

      public Limelight.SharedMapState sharedMapState
      Shared field map state reported by the camera.

    • parseLatencyMillis

      public double parseLatencyMillis
      Time spent decoding this envelope on the robot, in milliseconds. Library-side overhead for logging, not part of the camera's latency.

    • receiveTimestampSeconds

      public double receiveTimestampSeconds
      Local NetworkTables time when this frame arrived, in seconds. 0 if this object did not come from the network

    • error

      public String error
      Non-empty if the envelope failed to decode.

  • Constructor Details

    • LimelightResults

      public LimelightResults()

  • Method Details

    • getAgeSeconds

      public double getAgeSeconds()
      Returns seconds since this frame arrived.
      Returns:
      Seconds since this frame arrived. If this value keeps growing, the camera has stopped sending frames. Possible causes: disconnected, stopped, or renamed.

    • getTargetCount

      public int getTargetCount()
      Returns total number of retro, fiducial, detector, classifier, and barcode targets.
      Returns:
      Total number of retro, fiducial, detector, classifier, and barcode targets. Counter and OCR results are not included

    • getRobotPose_MT1

      public org.wpilib.math.geometry.Pose3d getRobotPose_MT1()
      Returns megaTag1 robot pose in field space (field-center origin).
      Returns:
      MegaTag1 robot pose in field space (field-center origin)

    • getRobotPose_MT2

      public org.wpilib.math.geometry.Pose3d getRobotPose_MT2()
      Returns megaTag2 robot pose in field space.
      Returns:
      MegaTag2 robot pose in field space. The origin is the field center

    • getRobotPose

      public org.wpilib.math.geometry.Pose3d getRobotPose(Limelight.PoseEstimateType type)
      Returns the full 3D robot pose for the given estimate type.
      Returns:
      The full 3D robot pose for the given estimate type. The type selects the origin and the algorithm

    • getCameraPose_RobotSpace

      public org.wpilib.math.geometry.Pose3d getCameraPose_RobotSpace()
      Returns camera pose in robot space (meters, degrees).
      Returns:
      Camera pose in robot space (meters, degrees)