Package org.photonvision.targeting

Class PhotonPipelineResult

java.lang.Object
org.photonvision.targeting.PhotonPipelineResult
All Implemented Interfaces:
edu.wpi.first.util.protobuf.ProtobufSerializable, edu.wpi.first.util.WPISerializable
public class PhotonPipelineResult extends Object implements edu.wpi.first.util.protobuf.ProtobufSerializable
Represents a pipeline result from a PhotonCamera.

  • Field Details

  • Constructor Details

    • PhotonPipelineResult

      public PhotonPipelineResult()
      Constructs an empty pipeline result.

    • PhotonPipelineResult

      public PhotonPipelineResult(double latencyMillis, List<PhotonTrackedTarget> targets)
      Constructs a pipeline result.
      Parameters:
      latencyMillis - The latency in the pipeline.
      targets - The list of targets identified by the pipeline.

    • PhotonPipelineResult

      public PhotonPipelineResult(double latencyMillis, List<PhotonTrackedTarget> targets, MultiTargetPNPResult result)
      Constructs a pipeline result.
      Parameters:
      latencyMillis - The latency in the pipeline.
      targets - The list of targets identified by the pipeline.
      result - Result from multi-target PNP.

  • Method Details

    • getPacketSize

      public int getPacketSize()
      Returns the size of the packet needed to store this pipeline result.
      Returns:
      The size of the packet needed to store this pipeline result.

    • getBestTarget

      public PhotonTrackedTarget getBestTarget()
      Returns the best target in this pipeline result. If there are no targets, this method will return null. The best target is determined by the target sort mode in the PhotonVision UI.
      Returns:
      The best target of the pipeline result.

    • getLatencyMillis

      public double getLatencyMillis()
      Returns the latency in the pipeline.
      Returns:
      The latency in the pipeline.

    • getTimestampSeconds

      public double getTimestampSeconds()
      Returns the estimated time the frame was taken, This is more accurate than using getLatencyMillis()
      Returns:
      The timestamp in seconds, or -1 if this result has no timestamp set.

    • setTimestampSeconds

      public void setTimestampSeconds(double timestampSeconds)
      Sets the FPGA timestamp of this result in seconds.
      Parameters:
      timestampSeconds - The timestamp in seconds.

    • hasTargets

      public boolean hasTargets()
      Returns whether the pipeline has targets.
      Returns:
      Whether the pipeline has targets.

    • getTargets

      public List<PhotonTrackedTarget> getTargets()
      Returns a copy of the vector of targets.
      Returns:
      A copy of the vector of targets.

    • getMultiTagResult

      public MultiTargetPNPResult getMultiTagResult()
      Return the latest multi-target result. Be sure to check getMultiTagResult().estimatedPose.isPresent before using the pose estimate!

    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class Object

    • equals

      public boolean equals(Object obj)
      Overrides:
      equals in class Object

    • toString

      public String toString()
      Overrides:
      toString in class Object