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 (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	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 ()
	Get the camera calibration distortion coefficients, in OPENCV8 form.

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

Static Public Member Functions
static void	SetVersionCheckEnabled (bool enabled)

Public Attributes
bool	test = false

std::vector< PhotonPipelineResult >	testResult

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

std::shared_ptr< nt::NetworkTable >	rootTable

nt::RawSubscriber	rawBytesEntry

nt::IntegerPublisher	inputSaveImgEntry

nt::IntegerSubscriber	inputSaveImgSubscriber

nt::IntegerPublisher	outputSaveImgEntry

nt::IntegerSubscriber	outputSaveImgSubscriber

nt::IntegerPublisher	pipelineIndexPub

nt::IntegerSubscriber	pipelineIndexSub

nt::IntegerPublisher	ledModePub

nt::IntegerSubscriber	ledModeSub

nt::StringSubscriber	versionEntry

nt::DoubleArraySubscriber	cameraIntrinsicsSubscriber

nt::DoubleArraySubscriber	cameraDistortionSubscriber

nt::BooleanSubscriber	driverModeSubscriber

nt::BooleanPublisher	driverModePublisher

nt::IntegerSubscriber	ledModeSubscriber

nt::IntegerSubscriber	heartbeatSubscriber

nt::MultiSubscriber	topicNameSubscriber

std::string	path

std::string	cameraName

frc::Alert	disconnectAlert

frc::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	(	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< nt::NetworkTable > photon::PhotonCamera::GetCameraTable ( ) const

inline

◆ GetDistCoeffs()

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

Get the camera calibration distortion coefficients, in OPENCV8 form.

Higher order terms are set to zero.

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

◆ GetDriverMode()

bool photon::PhotonCamera::GetDriverMode ( ) const

Returns whether the camera is in driver mode.

Returns: Whether the camera is in driver mode.

◆ 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.

◆ 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

◆ 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

nt::DoubleArraySubscriber photon::PhotonCamera::cameraDistortionSubscriber

protected

◆ cameraIntrinsicsSubscriber

nt::DoubleArraySubscriber photon::PhotonCamera::cameraIntrinsicsSubscriber

protected

◆ cameraName

std::string photon::PhotonCamera::cameraName

protected

◆ disconnectAlert

frc::Alert photon::PhotonCamera::disconnectAlert

protected

◆ driverModePublisher

nt::BooleanPublisher photon::PhotonCamera::driverModePublisher

protected

◆ driverModeSubscriber

nt::BooleanSubscriber photon::PhotonCamera::driverModeSubscriber

protected

◆ heartbeatSubscriber

nt::IntegerSubscriber photon::PhotonCamera::heartbeatSubscriber

protected

◆ inputSaveImgEntry

nt::IntegerPublisher photon::PhotonCamera::inputSaveImgEntry

protected

◆ inputSaveImgSubscriber

nt::IntegerSubscriber photon::PhotonCamera::inputSaveImgSubscriber

protected

◆ ledModePub

nt::IntegerPublisher photon::PhotonCamera::ledModePub

protected

◆ ledModeSub

nt::IntegerSubscriber photon::PhotonCamera::ledModeSub

protected

◆ ledModeSubscriber

nt::IntegerSubscriber photon::PhotonCamera::ledModeSubscriber

protected

◆ mainTable

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

protected

◆ outputSaveImgEntry

nt::IntegerPublisher photon::PhotonCamera::outputSaveImgEntry

protected

◆ outputSaveImgSubscriber

nt::IntegerSubscriber photon::PhotonCamera::outputSaveImgSubscriber

protected

◆ path

std::string photon::PhotonCamera::path

protected

◆ pipelineIndexPub

nt::IntegerPublisher photon::PhotonCamera::pipelineIndexPub

protected

◆ pipelineIndexSub

nt::IntegerSubscriber photon::PhotonCamera::pipelineIndexSub

protected

◆ rawBytesEntry

nt::RawSubscriber photon::PhotonCamera::rawBytesEntry

protected

◆ rootTable

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

protected

◆ test

bool photon::PhotonCamera::test = false

◆ testResult

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

◆ timesyncAlert

frc::Alert photon::PhotonCamera::timesyncAlert

protected

◆ topicNameSubscriber

nt::MultiSubscriber photon::PhotonCamera::topicNameSubscriber

protected

◆ versionEntry

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()

◆ GetLatestResult()

◆ GetLEDMode()

◆ GetPipelineIndex()

◆ IsConnected()

◆ SetDriverMode()

◆ SetLEDMode()

◆ SetPipelineIndex()

◆ SetVersionCheckEnabled()

◆ TakeInputSnapshot()

◆ TakeOutputSnapshot()

Member Data Documentation

◆ cameraDistortionSubscriber

◆ cameraIntrinsicsSubscriber

◆ cameraName

◆ disconnectAlert

◆ driverModePublisher

◆ driverModeSubscriber

◆ heartbeatSubscriber

◆ inputSaveImgEntry

◆ inputSaveImgSubscriber

◆ ledModePub

◆ ledModeSub

◆ ledModeSubscriber

◆ mainTable

◆ outputSaveImgEntry

◆ outputSaveImgSubscriber

◆ path

◆ pipelineIndexPub

◆ pipelineIndexSub

◆ rawBytesEntry

◆ rootTable

◆ test

◆ testResult

◆ timesyncAlert

◆ topicNameSubscriber

◆ versionEntry