Package frc8768.visionlib.multicam

Interface MultiCamVision

All Known Implementing Classes:
PhotonMultiCam
public interface MultiCamVision
For Robots that want a joined vision system, say 4 cameras on 4 corners TODO: Add methods for really fancy math and functions, such as multi-camera targeting/field recognition

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    addCamera(String camName, edu.wpi.first.math.geometry.Transform3d pos)
    Add a camera to the vision system
    void
    changePipeline(String camName, int index)
    Change the current pipeline for camera
    edu.wpi.first.math.geometry.Transform3d
    getTargetPose(String camName)
    Get pose of target relative to Robot
    List<?>
    getTargets()
    Get targets for all cameras
    List<?>
    getTargetsForCam(String camName)
    Get targets from camera

  • Method Details

    • addCamera

      void addCamera(String camName, edu.wpi.first.math.geometry.Transform3d pos)
      Add a camera to the vision system
      Parameters:
      camName - Name of the camera in associated system
      pos - Transform relative to Robot center

    • getTargetsForCam

      List<?> getTargetsForCam(String camName)
      Get targets from camera
      Returns:
      targets if any, null for none.

    • getTargets

      List<?> getTargets()
      Get targets for all cameras
      Returns:
      targets if any, null for none.

    • changePipeline

      void changePipeline(String camName, int index)
      Change the current pipeline for camera
      Parameters:
      index - Pipeline index, depends on your configuration.

    • getTargetPose

      edu.wpi.first.math.geometry.Transform3d getTargetPose(String camName)
      Get pose of target relative to Robot