Package io.github.tigerbotics7125.tigerlib.vision

Class SnakeEyes

java.lang.Object
io.github.tigerbotics7125.tigerlib.vision.SnakeEyes
public class SnakeEyes extends Object
This class removes a lot of boiler plate code when designing vison logic, and allows for some comfort features such as caching results.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected final Map<Integer,edu.wpi.first.math.geometry.Pose3d>
    mAprilTags
     
    protected org.photonvision.targeting.PhotonPipelineResult
    mCachedResult
     
    protected final org.photonvision.PhotonCamera
    mCam
     
    protected edu.wpi.first.math.geometry.Transform3d
    mRobotToCamera
    Transformation from robots center (x, y), and the floor (z)

  • Constructor Summary

    Constructors
    Constructor
    Description
    SnakeEyes(edu.wpi.first.networktables.NetworkTableInstance ntInstance, String cameraName, edu.wpi.first.math.geometry.Transform3d robotToCamera)
     
    SnakeEyes(String cameraName, edu.wpi.first.math.geometry.Transform3d robotToCamera)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    addAprilTag(int tagId, edu.wpi.first.math.geometry.Pose3d tagPose)
    Add an AprilTag to the vision systems known tag locations.
    org.photonvision.targeting.PhotonTrackedTarget
    getBestTag(org.photonvision.PhotonTargetSortMode sortMode, double ambiguityThreshold)
     
    edu.wpi.first.math.geometry.Rotation2d
    getFaceTargetAngle(org.photonvision.targeting.PhotonTrackedTarget targetToFace, edu.wpi.first.math.geometry.Pose2d robotPose)
     
    double
    getLatency()
     
    org.photonvision.targeting.PhotonPipelineResult
    getLatestResult()
    Returns and caches the latest result.
    edu.wpi.first.math.geometry.Pose3d
    getRobotPose(org.photonvision.targeting.PhotonTrackedTarget target)
     
    List<edu.wpi.first.math.geometry.Pose3d>
    getRobotPoseEstimates(double ambiguityThreshold)
     
    edu.wpi.first.math.geometry.Transform3d
    getRobotToCamera()
     
    edu.wpi.first.math.geometry.Pose3d
    getTagPose(int tagId)
     
    List<org.photonvision.targeting.PhotonTrackedTarget>
    getTargets()
     
    double
    getTimestamp()
     
    boolean
    hasTargets()
     
    void
    ledsBlink()
    Blink the LEDs.
    void
    ledsDefault()
    Set the LEDs to their default mode.
    void
    ledsOff()
    Turn the LEDs off.
    void
    ledsOn()
    Turn the LEDs on.
    static void
    portforward()
    Port forward the vision dashboard over rio usb connection.
    List<org.photonvision.targeting.PhotonTrackedTarget>
    removeAmbiguousTags(List<org.photonvision.targeting.PhotonTrackedTarget> tags, double ambiguityThreshold)
    Removes tags which have ambiguities larger than the provided threshold.
    void
    setLeds(org.photonvision.common.hardware.VisionLEDMode ledMode)
    Set the LEDs to the given mode.
    void
    setPipeline(int index)
    Set the pipeline via its index.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • mCam

      protected final org.photonvision.PhotonCamera mCam

    • mAprilTags

      protected final Map<Integer,edu.wpi.first.math.geometry.Pose3d> mAprilTags

    • mRobotToCamera

      protected edu.wpi.first.math.geometry.Transform3d mRobotToCamera
      Transformation from robots center (x, y), and the floor (z)

    • mCachedResult

      protected org.photonvision.targeting.PhotonPipelineResult mCachedResult

  • Constructor Details

    • SnakeEyes

      public SnakeEyes(String cameraName, edu.wpi.first.math.geometry.Transform3d robotToCamera)

    • SnakeEyes

      public SnakeEyes(edu.wpi.first.networktables.NetworkTableInstance ntInstance, String cameraName, edu.wpi.first.math.geometry.Transform3d robotToCamera)

  • Method Details

    • portforward

      public static void portforward()
      Port forward the vision dashboard over rio usb connection.

    • addAprilTag

      public void addAprilTag(int tagId, edu.wpi.first.math.geometry.Pose3d tagPose)
      Add an AprilTag to the vision systems known tag locations.
      Parameters:
      tagId -
      tagPose -

    • ledsOn

      public void ledsOn()
      Turn the LEDs on.

    • ledsOff

      public void ledsOff()
      Turn the LEDs off.

    • ledsBlink

      public void ledsBlink()
      Blink the LEDs.

    • ledsDefault

      public void ledsDefault()
      Set the LEDs to their default mode.

    • setLeds

      public void setLeds(org.photonvision.common.hardware.VisionLEDMode ledMode)
      Set the LEDs to the given mode.
      Parameters:
      ledMode -

    • setPipeline

      public void setPipeline(int index)
      Set the pipeline via its index.
      Parameters:
      index -

    • getRobotToCamera

      public edu.wpi.first.math.geometry.Transform3d getRobotToCamera()

    • getTagPose

      public edu.wpi.first.math.geometry.Pose3d getTagPose(int tagId)
      Parameters:
      tagId - The tag to get.
      Returns:
      the Pose3d of the tag, null if tag has not been added.

    • getLatestResult

      public org.photonvision.targeting.PhotonPipelineResult getLatestResult()
      Returns and caches the latest result. Allows users to make this call without performing actions on the returned value.
      Returns:
      The latest result.

    • getTargets

      public List<org.photonvision.targeting.PhotonTrackedTarget> getTargets()
      Returns:
      List of seen targets, if there are none, an empty list.

    • hasTargets

      public boolean hasTargets()
      Returns:
      If any targets are seen.

    • getLatency

      public double getLatency()
      Returns:
      The latency of the vision system in milli seconds.

    • getTimestamp

      public double getTimestamp()
      Returns:
      The timestamp of the latest result in seconds.

    • getRobotPose

      public edu.wpi.first.math.geometry.Pose3d getRobotPose(org.photonvision.targeting.PhotonTrackedTarget target)
      Parameters:
      target - The target to estimate robot pose by.
      Returns:
      the Pose3d of the robot as known by the target.
      Throws:
      IllegalArgumentException - if target fiducial id is not in known tags map.

    • getFaceTargetAngle

      public edu.wpi.first.math.geometry.Rotation2d getFaceTargetAngle(org.photonvision.targeting.PhotonTrackedTarget targetToFace, edu.wpi.first.math.geometry.Pose2d robotPose)
      Parameters:
      targetToFace -
      robotPose -
      Returns:
      The heading the robot should be at if it were to face the target head-on.

    • removeAmbiguousTags

      public List<org.photonvision.targeting.PhotonTrackedTarget> removeAmbiguousTags(List<org.photonvision.targeting.PhotonTrackedTarget> tags, double ambiguityThreshold)
      Removes tags which have ambiguities larger than the provided threshold.
      Parameters:
      tags - List of tags to edit.
      ambiguityThreshold - tags with ambiguity values greater than this will be removed.
      Returns:
      The list of tags with ambiguous tags removed.

    • getBestTag

      public org.photonvision.targeting.PhotonTrackedTarget getBestTag(org.photonvision.PhotonTargetSortMode sortMode, double ambiguityThreshold)
      Parameters:
      sortMode -
      ambiguityThreshold -
      Returns:
      The best tag

    • getRobotPoseEstimates

      public List<edu.wpi.first.math.geometry.Pose3d> getRobotPoseEstimates(double ambiguityThreshold)
      Parameters:
      ambiguityThreshold -
      Returns:
      A list of estimated robot poses.