Represents a camera that is connected to PhotonVision. More...

#include <photon/PhotonCamera.h>

Public Types
using	CameraMatrix = Eigen::Matrix<double, 3, 3>

using	DistortionMatrix = Eigen::Matrix<double, 8, 1>

Public Member Functions
	PhotonCamera (wpi::nt::NetworkTableInstance instance, const std::string_view cameraName)
	Constructs a PhotonCamera from a root table.

	PhotonCamera (const std::string_view cameraName)
	Constructs a PhotonCamera from the name of the camera.

	PhotonCamera (PhotonCamera &&)=default

	~PhotonCamera ()=default

std::vector< PhotonPipelineResult >	GetAllUnreadResults ()
	The list of pipeline results sent by PhotonVision since the last call to GetAllUnreadResults().

PhotonPipelineResult	GetLatestResult ()

void	SetDriverMode (bool driverMode)
	Toggles driver mode.

bool	GetDriverMode () const
	Returns whether the camera is in driver mode.

void	SetFPSLimit (int fpsLimit)
	Sets the FPS limit on the camera.

int	GetFPSLimit () const

void	SetEnabled (bool enabled)
	Sets whether the camera is enabled, default is true.

bool	GetEnabled () const

void	TakeInputSnapshot (void)
	Request the camera to save a new image file from the input camera stream with overlays.

void	TakeOutputSnapshot (void)
	Request the camera to save a new image file from the output stream with overlays.

void	SetPipelineIndex (int index)
	Allows the user to select the active pipeline index.

int	GetPipelineIndex () const
	Returns the active pipeline index.

LEDMode	GetLEDMode () const
	Returns the current LED mode.

void	SetLEDMode (LEDMode led)
	Sets the LED mode.

const std::string_view	GetCameraName () const
	Returns the name of the camera.

bool	IsConnected ()
	Returns whether the camera is connected and actively returning new data.

std::optional< CameraMatrix >	GetCameraMatrix ()
	Get the camera calibration matrix, in standard OpenCV form.

std::optional< DistortionMatrix >	GetDistCoeffs ()
	Returns the camera calibration's distortion coefficients, in OPENCV8 form.

std::shared_ptr< wpi::nt::NetworkTable >	GetCameraTable () const

Static Public Member Functions
static void	SetVersionCheckEnabled (bool enabled)
	Sets whether or not coprocessor version checks will occur.

Public Attributes
bool	test = false

std::vector< PhotonPipelineResult >	testResult

Protected Attributes
std::shared_ptr< wpi::nt::NetworkTable >	mainTable

std::shared_ptr< wpi::nt::NetworkTable >	rootTable

wpi::nt::RawSubscriber	rawBytesEntry

wpi::nt::IntegerPublisher	inputSaveImgEntry

wpi::nt::IntegerSubscriber	inputSaveImgSubscriber

wpi::nt::IntegerPublisher	outputSaveImgEntry

wpi::nt::IntegerSubscriber	outputSaveImgSubscriber

wpi::nt::IntegerPublisher	pipelineIndexPub

wpi::nt::IntegerSubscriber	pipelineIndexSub

wpi::nt::IntegerPublisher	ledModePub

wpi::nt::IntegerSubscriber	ledModeSub

wpi::nt::StringSubscriber	versionEntry

wpi::nt::DoubleArraySubscriber	cameraIntrinsicsSubscriber

wpi::nt::DoubleArraySubscriber	cameraDistortionSubscriber

wpi::nt::BooleanSubscriber	driverModeSubscriber

wpi::nt::BooleanPublisher	driverModePublisher

wpi::nt::IntegerSubscriber	fpsLimitSubscriber

wpi::nt::IntegerPublisher	fpsLimitPublisher

wpi::nt::BooleanSubscriber	enabledSubscriber

wpi::nt::BooleanPublisher	enabledPublisher

wpi::nt::IntegerSubscriber	ledModeSubscriber

wpi::nt::IntegerSubscriber	heartbeatSubscriber

wpi::nt::MultiSubscriber	topicNameSubscriber

std::string	path

std::string	cameraName

wpi::Alert	disconnectAlert

wpi::Alert	timesyncAlert

Detailed Description

Represents a camera that is connected to PhotonVision.

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Member Typedef Documentation

◆ CameraMatrix

using photon::PhotonCamera::CameraMatrix = Eigen::Matrix<double, 3, 3>

◆ DistortionMatrix

using photon::PhotonCamera::DistortionMatrix = Eigen::Matrix<double, 8, 1>

Constructor & Destructor Documentation

◆ PhotonCamera() [1/3]

photon::PhotonCamera::PhotonCamera	(	wpi::nt::NetworkTableInstance	instance,
		const std::string_view	cameraName )

explicit

Constructs a PhotonCamera from a root table.

Parameters

instance	The NetworkTableInstance to pull data from. This can be a custom instance in simulation, but should usually be the default NTInstance from `NetworkTableInstance::getDefault`
cameraName	The name of the camera, as seen in the UI. over.

◆ PhotonCamera() [2/3]

photon::PhotonCamera::PhotonCamera ( const std::string_view cameraName )

explicit

Constructs a PhotonCamera from the name of the camera.

Parameters

cameraName The nickname of the camera (found in the PhotonVision UI).

◆ PhotonCamera() [3/3]

photon::PhotonCamera::PhotonCamera ( PhotonCamera && )

default

◆ ~PhotonCamera()

photon::PhotonCamera::~PhotonCamera ( )

default

Member Function Documentation

◆ GetAllUnreadResults()

std::vector< PhotonPipelineResult > photon::PhotonCamera::GetAllUnreadResults ( )

The list of pipeline results sent by PhotonVision since the last call to GetAllUnreadResults().

Calling this function clears the internal FIFO queue, and multiple calls to GetAllUnreadResults() will return different (potentially empty) result arrays. Be careful to call this exactly ONCE per loop of your robot code! FIFO depth is limited to 20 changes, so make sure to call this frequently enough to avoid old results being discarded, too!

◆ GetCameraMatrix()

std::optional< CameraMatrix > photon::PhotonCamera::GetCameraMatrix ( )

Get the camera calibration matrix, in standard OpenCV form.

Returns: std::optional<cv::Mat>

◆ GetCameraName()

const std::string_view photon::PhotonCamera::GetCameraName ( ) const

Returns the name of the camera.

This will return the same value that was given to the constructor as cameraName.

Returns: The name of the camera.

◆ GetCameraTable()

std::shared_ptr< wpi::nt::NetworkTable > photon::PhotonCamera::GetCameraTable ( ) const

inline

◆ GetDistCoeffs()

std::optional< DistortionMatrix > photon::PhotonCamera::GetDistCoeffs ( )

Returns the camera calibration's distortion coefficients, in OPENCV8 form.

Higher-order terms are set to 0

Returns: The distortion coefficients in a 8x1 matrix, if they are published by the camera. Empty otherwise.

◆ GetDriverMode()

bool photon::PhotonCamera::GetDriverMode ( ) const

Returns whether the camera is in driver mode.

Returns: Whether the camera is in driver mode.

◆ GetEnabled()

bool photon::PhotonCamera::GetEnabled ( ) const

Returns: Whether the camera is enabled.

◆ GetFPSLimit()

int photon::PhotonCamera::GetFPSLimit ( ) const

Returns: The FPS limit set on the camera, or -1 if no limit is set.

◆ GetLatestResult()

PhotonPipelineResult photon::PhotonCamera::GetLatestResult ( )

◆ GetLEDMode()

LEDMode photon::PhotonCamera::GetLEDMode ( ) const

Returns the current LED mode.

Returns: The current LED mode.

◆ GetPipelineIndex()

int photon::PhotonCamera::GetPipelineIndex ( ) const

Returns the active pipeline index.

Returns: The active pipeline index.

◆ IsConnected()

bool photon::PhotonCamera::IsConnected ( )

Returns whether the camera is connected and actively returning new data.

Connection status is debounced.

Returns: True if the camera is actively sending frame data, false otherwise.

◆ SetDriverMode()

void photon::PhotonCamera::SetDriverMode ( bool driverMode )

Toggles driver mode.

Parameters

driverMode Whether to set driver mode.

◆ SetEnabled()

void photon::PhotonCamera::SetEnabled ( bool enabled )

Sets whether the camera is enabled, default is true.

Parameters

enabled Whether to enable the camera.

◆ SetFPSLimit()

void photon::PhotonCamera::SetFPSLimit ( int fpsLimit )

Sets the FPS limit on the camera.

An FPS of 0 means to pause processing until a FPS limit greater than 0 is set.

A negative FPS limit is treated as no FPS limit, and will run as fast as possible.

Otherwise, will limit processing to at most the provided FPS limit

Parameters

fps	The FPS limit to set.

◆ SetLEDMode()

void photon::PhotonCamera::SetLEDMode ( LEDMode led )

Sets the LED mode.

Parameters

led	The mode to set to.

◆ SetPipelineIndex()

void photon::PhotonCamera::SetPipelineIndex ( int index )

Allows the user to select the active pipeline index.

Parameters

index The active pipeline index.

◆ SetVersionCheckEnabled()

static void photon::PhotonCamera::SetVersionCheckEnabled ( bool enabled )

static

Sets whether or not coprocessor version checks will occur.

Setting this to true will silence all console warnings about coproccessor connection, so be careful when enabling this and ensure all your coprocessors are communicating to the robot properly and everything has matching versions.

Parameters

enabled Whether or not to enable coprocessor version checks

◆ TakeInputSnapshot()

void photon::PhotonCamera::TakeInputSnapshot ( void )

Request the camera to save a new image file from the input camera stream with overlays.

Images take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space and eventually cause the system to stop working. Clear out images in /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.

◆ TakeOutputSnapshot()

void photon::PhotonCamera::TakeOutputSnapshot ( void )

Request the camera to save a new image file from the output stream with overlays.

Images take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space and eventually cause the system to stop working. Clear out images in /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.

Member Data Documentation

◆ cameraDistortionSubscriber

wpi::nt::DoubleArraySubscriber photon::PhotonCamera::cameraDistortionSubscriber

protected

◆ cameraIntrinsicsSubscriber

wpi::nt::DoubleArraySubscriber photon::PhotonCamera::cameraIntrinsicsSubscriber

protected

◆ cameraName

std::string photon::PhotonCamera::cameraName

protected

◆ disconnectAlert

wpi::Alert photon::PhotonCamera::disconnectAlert

protected

◆ driverModePublisher

wpi::nt::BooleanPublisher photon::PhotonCamera::driverModePublisher

protected

◆ driverModeSubscriber

wpi::nt::BooleanSubscriber photon::PhotonCamera::driverModeSubscriber

protected

◆ enabledPublisher

wpi::nt::BooleanPublisher photon::PhotonCamera::enabledPublisher

protected

◆ enabledSubscriber

wpi::nt::BooleanSubscriber photon::PhotonCamera::enabledSubscriber

protected

◆ fpsLimitPublisher

wpi::nt::IntegerPublisher photon::PhotonCamera::fpsLimitPublisher

protected

◆ fpsLimitSubscriber

wpi::nt::IntegerSubscriber photon::PhotonCamera::fpsLimitSubscriber

protected

◆ heartbeatSubscriber

wpi::nt::IntegerSubscriber photon::PhotonCamera::heartbeatSubscriber

protected

◆ inputSaveImgEntry

wpi::nt::IntegerPublisher photon::PhotonCamera::inputSaveImgEntry

protected

◆ inputSaveImgSubscriber

wpi::nt::IntegerSubscriber photon::PhotonCamera::inputSaveImgSubscriber

protected

◆ ledModePub

wpi::nt::IntegerPublisher photon::PhotonCamera::ledModePub

protected

◆ ledModeSub

wpi::nt::IntegerSubscriber photon::PhotonCamera::ledModeSub

protected

◆ ledModeSubscriber

wpi::nt::IntegerSubscriber photon::PhotonCamera::ledModeSubscriber

protected

◆ mainTable

std::shared_ptr<wpi::nt::NetworkTable> photon::PhotonCamera::mainTable

protected

◆ outputSaveImgEntry

wpi::nt::IntegerPublisher photon::PhotonCamera::outputSaveImgEntry

protected

◆ outputSaveImgSubscriber

wpi::nt::IntegerSubscriber photon::PhotonCamera::outputSaveImgSubscriber

protected

◆ path

std::string photon::PhotonCamera::path

protected

◆ pipelineIndexPub

wpi::nt::IntegerPublisher photon::PhotonCamera::pipelineIndexPub

protected

◆ pipelineIndexSub

wpi::nt::IntegerSubscriber photon::PhotonCamera::pipelineIndexSub

protected

◆ rawBytesEntry

wpi::nt::RawSubscriber photon::PhotonCamera::rawBytesEntry

protected

◆ rootTable

std::shared_ptr<wpi::nt::NetworkTable> photon::PhotonCamera::rootTable

protected

◆ test

bool photon::PhotonCamera::test = false

◆ testResult

std::vector<PhotonPipelineResult> photon::PhotonCamera::testResult

◆ timesyncAlert

wpi::Alert photon::PhotonCamera::timesyncAlert

protected

◆ topicNameSubscriber

wpi::nt::MultiSubscriber photon::PhotonCamera::topicNameSubscriber

protected

◆ versionEntry

wpi::nt::StringSubscriber photon::PhotonCamera::versionEntry

protected

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

photon/PhotonCamera.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CameraMatrix

◆ DistortionMatrix

Constructor & Destructor Documentation

◆ PhotonCamera() [1/3]

◆ PhotonCamera() [2/3]

◆ PhotonCamera() [3/3]

◆ ~PhotonCamera()

Member Function Documentation

◆ GetAllUnreadResults()

◆ GetCameraMatrix()

◆ GetCameraName()

◆ GetCameraTable()

◆ GetDistCoeffs()

◆ GetDriverMode()

◆ GetEnabled()

◆ GetFPSLimit()

◆ GetLatestResult()

◆ GetLEDMode()

◆ GetPipelineIndex()

◆ IsConnected()

◆ SetDriverMode()

◆ SetEnabled()

◆ SetFPSLimit()

◆ SetLEDMode()

◆ SetPipelineIndex()

◆ SetVersionCheckEnabled()

◆ TakeInputSnapshot()

◆ TakeOutputSnapshot()

Member Data Documentation

◆ cameraDistortionSubscriber

◆ cameraIntrinsicsSubscriber

◆ cameraName

◆ disconnectAlert

◆ driverModePublisher

◆ driverModeSubscriber

◆ enabledPublisher

◆ enabledSubscriber

◆ fpsLimitPublisher

◆ fpsLimitSubscriber

◆ heartbeatSubscriber

◆ inputSaveImgEntry

◆ inputSaveImgSubscriber

◆ ledModePub

◆ ledModeSub

◆ ledModeSubscriber

◆ mainTable

◆ outputSaveImgEntry

◆ outputSaveImgSubscriber

◆ path

◆ pipelineIndexPub

◆ pipelineIndexSub

◆ rawBytesEntry

◆ rootTable

◆ test

◆ testResult

◆ timesyncAlert

◆ topicNameSubscriber

◆ versionEntry