Package frc8768.visionlib.multicam

Class PhotonMultiCam

java.lang.Object
frc8768.visionlib.multicam.PhotonMultiCam
All Implemented Interfaces:
MultiCamVision
public class PhotonMultiCam extends Object implements MultiCamVision
Currently only supports 1 type of processor per joined system

  • Constructor Details

    • PhotonMultiCam

      public PhotonMultiCam()

  • Method Details

    • addCamera

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

    • getTargetsForCam

      public List<org.photonvision.targeting.PhotonTrackedTarget> getTargetsForCam(String camName)
      Description copied from interface: MultiCamVision
      Get targets from camera
      Specified by:
      getTargetsForCam in interface MultiCamVision
      Returns:
      targets if any, null for none.

    • changePipeline

      public void changePipeline(String camName, int index)
      Description copied from interface: MultiCamVision
      Change the current pipeline for camera
      Specified by:
      changePipeline in interface MultiCamVision
      Parameters:
      index - Pipeline index, depends on your configuration.

    • getTargetPose

      public edu.wpi.first.math.geometry.Transform3d getTargetPose(String camName)
      Description copied from interface: MultiCamVision
      Get pose of target relative to Robot
      Specified by:
      getTargetPose in interface MultiCamVision

    • getTargets

      public List<org.photonvision.targeting.PhotonTrackedTarget> getTargets()
      Description copied from interface: MultiCamVision
      Get targets for all cameras
      Specified by:
      getTargets in interface MultiCamVision
      Returns:
      targets if any, null for none.