Package limelight.networktables.target

Class AprilTagFiducial

java.lang.Object
limelight.networktables.target.AprilTagFiducial
public class AprilTagFiducial extends Object
Represents an AprilTag/Fiducial Target Result extracted from JSON Output

  • Field Details

    • fiducialID

      public double fiducialID
      Fiducial tag ID

    • fiducialFamily

      public String fiducialFamily
      Fiducial Family (16H5C, 25H9C, 36H11C, etc)

    • ta

      public double ta
      The size of the target as a percentage of the image (0-1)

    • tx

      public double tx
      X-coordinate of the center of the target in degrees relative to crosshair. Positive-right, center-zero

    • ty

      public double ty
      Y-coordinate of the center of the target in degrees relative to crosshair. Positive-down, center-zero

    • tx_pixels

      public double tx_pixels
      X-coordinate of the center of the target in pixels relative to crosshair. Positive-right, center-zero

    • ty_pixels

      public double ty_pixels
      Y-coordinate of the center of the target in pixels relative to crosshair. Positive-down, center-zero

    • tx_nocrosshair

      public double tx_nocrosshair
      X-coordinate of the center of the target in degrees relative to principal piexel. Positive-right, center-zero

    • ty_nocrosshair

      public double ty_nocrosshair
      Y-coordinate of the center of the target in degrees relative to principal pixel. Positive-right, center-zero

    • ts

      public double ts
      Timestamp in milliseconds from boot.

  • Constructor Details

    • AprilTagFiducial

      public AprilTagFiducial()
      Create the AprilTagFiducial object

    • AprilTagFiducial

      public AprilTagFiducial(double fiducialID, String fiducialFamily, double ta, double tx, double ty, double txPixels, double tyPixels, double txNoCrosshair, double tyNoCrosshair, double ts, double[] cameraPoseTargetSpace, double[] robotPoseFieldSpace, double[] robotPoseTargetSpace, double[] targetPoseCameraSpace, double[] targetPoseRobotSpace)
      Create a fully populated AprilTagFiducial object, e.g. for LimelightSim.
      Parameters:
      fiducialID - Fiducial tag ID.
      fiducialFamily - Fiducial family (e.g. "36h11").
      ta - Target area as a percentage of the image (0-100).
      tx - X-coordinate relative to crosshair, in degrees.
      ty - Y-coordinate relative to crosshair, in degrees.
      txPixels - X-coordinate relative to crosshair, in pixels.
      tyPixels - Y-coordinate relative to crosshair, in pixels.
      txNoCrosshair - X-coordinate relative to principal pixel, in degrees.
      tyNoCrosshair - Y-coordinate relative to principal pixel, in degrees.
      ts - Timestamp in milliseconds from boot.
      cameraPoseTargetSpace - Camera pose in target space [x,y,z,roll,pitch,yaw].
      robotPoseFieldSpace - Robot pose in field space [x,y,z,roll,pitch,yaw].
      robotPoseTargetSpace - Robot pose in target space [x,y,z,roll,pitch,yaw].
      targetPoseCameraSpace - Target pose in camera space [x,y,z,roll,pitch,yaw].
      targetPoseRobotSpace - Target pose in robot space [x,y,z,roll,pitch,yaw].

  • Method Details

    • getCameraPose_TargetSpace

      public Pose3d getCameraPose_TargetSpace()
      Get the AprilTag's 3D pose in target space
      Returns:
      Pose3d object representing the AprilTag's position and orientation relative to the camera

    • getRobotPose_FieldSpace

      public Pose3d getRobotPose_FieldSpace()
      Get the AprilTag's 3D pose in field space
      Returns:
      Pose3d object representing the AprilTag's position and orientation relative to the robot

    • getRobotPose_TargetSpace

      public Pose3d getRobotPose_TargetSpace()
      Get the AprilTag's 3D pose in target space
      Returns:
      Pose3d object representing the AprilTag's position and orientation relative to the robot

    • getTargetPose_CameraSpace

      public Pose3d getTargetPose_CameraSpace()
      Get the AprilTag's 3D pose in camera space
      Returns:
      Pose3d object representing the AprilTag's position and orientation relative to the camera

    • getTargetPose_RobotSpace

      public Pose3d getTargetPose_RobotSpace()
      Get the AprilTag's 3D pose in robot space
      Returns:
      Pose3d object representing the AprilTag's position and orientation relative to the robot

    • getCameraPose_TargetSpace2D

      public Pose2d getCameraPose_TargetSpace2D()
      Get the AprilTag's 2D pose in target space
      Returns:
      Pose2d object representing the AprilTag's position and orientation relative to the camera

    • getRobotPose_FieldSpace2D

      public Pose2d getRobotPose_FieldSpace2D()
      Get the AprilTag's 2D pose in field space
      Returns:
      Pose2d object representing the AprilTag's position and orientation relative to the robot

    • getRobotPose_TargetSpace2D

      public Pose2d getRobotPose_TargetSpace2D()
      Get the AprilTag's 2D pose in target space
      Returns:
      Pose2d object representing the AprilTag's position and orientation relative to the robot

    • getTargetPose_CameraSpace2D

      public Pose2d getTargetPose_CameraSpace2D()
      Get the AprilTag's 2D pose in camera space
      Returns:
      Pose2d object representing the AprilTag's position and orientation relative to the camera

    • getTargetPose_RobotSpace2D

      public Pose2d getTargetPose_RobotSpace2D()
      Get the AprilTag's 2D pose in robot space
      Returns:
      Pose2d object representing the AprilTag's position and orientation relative to the robot