photon::PhotonPipelineResult Class Reference

Represents a pipeline result from a PhotonCamera. More...

#include <photon/targeting/PhotonPipelineResult.h>

Inheritance diagram for photon::PhotonPipelineResult:

Public Member Functions
	PhotonPipelineResult ()
	PhotonPipelineResult (Base &&data)
	PhotonPipelineResult (const PhotonPipelineResult &other)
	PhotonPipelineResult (PhotonPipelineResult &other)
	PhotonPipelineResult (PhotonPipelineResult &&other)
auto &	operator= (const PhotonPipelineResult &other)
auto &	operator= (PhotonPipelineResult &&other)
template<typename... Args>
	PhotonPipelineResult (Args &&... args)
PhotonTrackedTarget	GetBestTarget () const
	Returns the best target in this pipeline result.
units::millisecond_t	GetLatency () const
	Returns the latency in the pipeline.
units::second_t	GetTimestamp () const
	Returns the estimated time the frame was taken, This is much more accurate than using GetLatency()
const std::optional< MultiTargetPNPResult > &	MultiTagResult () const
	Return the latest mulit-target result, as calculated on your coprocessor.
int64_t	SequenceID () const
	The number of non-empty frames processed by this camera since boot.
void	SetReceiveTimestamp (const units::second_t timestamp)
	Sets the FPGA timestamp this result was Received by robot code.
bool	HasTargets () const
	Returns whether the pipeline has targets.
const std::span< const PhotonTrackedTarget >	GetTargets () const
	Returns a reference to the vector of targets.

Public Attributes
units::microsecond_t	ntReceiveTimestamp = -1_s
Public Attributes inherited from photon::PhotonPipelineResult_PhotonStruct
photon::PhotonPipelineMetadata	metadata
std::vector< photon::PhotonTrackedTarget >	targets
std::optional< photon::MultiTargetPNPResult >	multitagResult

Static Public Attributes
static bool	HAS_WARNED = false

Friends
bool	operator== (PhotonPipelineResult const &, PhotonPipelineResult const &)=default

Detailed Description

Represents a pipeline result from a PhotonCamera.

Constructor & Destructor Documentation

PhotonPipelineResult() [1/6]

photon::PhotonPipelineResult::PhotonPipelineResult ( )

inline

PhotonPipelineResult() [2/6]

photon::PhotonPipelineResult::PhotonPipelineResult ( Base && data )

inlineexplicit

PhotonPipelineResult() [3/6]

photon::PhotonPipelineResult::PhotonPipelineResult ( const PhotonPipelineResult & other )

inline

PhotonPipelineResult() [4/6]

photon::PhotonPipelineResult::PhotonPipelineResult ( PhotonPipelineResult & other )

inline

PhotonPipelineResult() [5/6]

photon::PhotonPipelineResult::PhotonPipelineResult ( PhotonPipelineResult && other )

inline

PhotonPipelineResult() [6/6]

template<typename... Args>

photon::PhotonPipelineResult::PhotonPipelineResult ( Args &&... args )

inlineexplicit

Member Function Documentation

GetBestTarget()

PhotonTrackedTarget photon::PhotonPipelineResult::GetBestTarget ( ) const

inline

Returns the best target in this pipeline result.

If there are no targets, this method will return null. The best target is determined by the target sort mode in the PhotonVision UI.

Returns

The best target of the pipeline result.

GetLatency()

units::millisecond_t photon::PhotonPipelineResult::GetLatency ( ) const

inline

Returns the latency in the pipeline.

Returns

The latency in the pipeline.

GetTargets()

const std::span< const PhotonTrackedTarget > photon::PhotonPipelineResult::GetTargets ( ) const

inline

Returns a reference to the vector of targets.

Returned in the order set by target sort mode.

Returns

A reference to the vector of targets.

GetTimestamp()

units::second_t photon::PhotonPipelineResult::GetTimestamp ( ) const

inline

Returns the estimated time the frame was taken, This is much more accurate than using GetLatency()

Returns

The timestamp in seconds or -1 if this result was not initiated with a timestamp.

HasTargets()

bool photon::PhotonPipelineResult::HasTargets ( ) const

inline

Returns whether the pipeline has targets.

Returns

Whether the pipeline has targets.

MultiTagResult()

const std::optional< MultiTargetPNPResult > & photon::PhotonPipelineResult::MultiTagResult ( ) const

inline

Return the latest mulit-target result, as calculated on your coprocessor.

Be sure to check getMultiTagResult().estimatedPose.isPresent before using the pose estimate!

operator=() [1/2]

auto & photon::PhotonPipelineResult::operator= ( const PhotonPipelineResult & other )

inline

operator=() [2/2]

auto & photon::PhotonPipelineResult::operator= ( PhotonPipelineResult && other )

inline

SequenceID()

int64_t photon::PhotonPipelineResult::SequenceID ( ) const

inline

The number of non-empty frames processed by this camera since boot.

Useful to checking if a camera is alive.

SetReceiveTimestamp()

void photon::PhotonPipelineResult::SetReceiveTimestamp ( const units::second_t timestamp )

inline

Sets the FPGA timestamp this result was Received by robot code.

Friends And Related Symbol Documentation

operator==

bool operator== ( PhotonPipelineResult const & , PhotonPipelineResult const &  )

friend

Member Data Documentation

HAS_WARNED

bool photon::PhotonPipelineResult::HAS_WARNED = false

inlinestatic

ntReceiveTimestamp

units::microsecond_t photon::PhotonPipelineResult::ntReceiveTimestamp = -1_s

---

The documentation for this class was generated from the following file:

• photon/targeting/PhotonPipelineResult.h