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Package common.hardware.camera
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Class NAR_Camera

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java.lang.Object -
org.photonvision.PhotonCamera -
common.hardware.camera.NAR_Camera
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All Implemented Interfaces:
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AutoCloseable
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public class NAR_Camera -extends org.photonvision.PhotonCamera
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Team 3128's streamlined PhotonCamera class that provides additional functionality and ease of use. -

Geometry: https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/index.html. -

Photonvision: https://docs.photonvision.org/en/latest/.

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Since:
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2023 Charged Up
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    Field Summary

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    Fields
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    Modifier and Type
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    Field
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    Description
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    final Camera
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    camera
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    Fields inherited from class org.photonvision.PhotonCamera

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    Constructor Summary

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    Constructors
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    Constructor
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    Description
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    NAR_Camera(Camera camera)
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    Creates a NAR_Camera object.
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    Method Summary

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    Modifier and Type
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    Method
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    Description
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    void
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    disable()
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    Stops the camera from updating robot odometry.
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    void
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    enable()
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    Allows the camera to update robot odometry.
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    edu.wpi.first.math.geometry.Transform2d
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    getAccTarget()
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    Returns the best target to camera vector as a Transform2d.
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    double
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    getDistance()
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    Returns the distance from the best target to the camera.
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    String
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    getName()
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    edu.wpi.first.math.geometry.Pose2d
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    getPos()
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    Returns position of the robot on the field based on the best target.
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    edu.wpi.first.math.geometry.Transform2d
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    getRelTarget()
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    Returns the best target to camera vector as a Transform2d.
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    edu.wpi.first.math.geometry.Transform3d
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    getTarget3d()
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    Returns the best target to camera vector as a Transform3d.
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    boolean
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    hasTarget()
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    Returns whether or not the camera sees a target.
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    static void
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    setResources(DoubleSupplier gyro, - BiConsumer<edu.wpi.first.math.geometry.Pose2d,Double> odometry, - HashMap<Integer,edu.wpi.first.math.geometry.Pose2d> aprilTags, - Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier)
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    Sets the necessary resources for cameras to function.
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    static void
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    setThresholds(double angleThreshold, - double distanceThreshold, - double ambiguityThreshold, - boolean multipleTargets)
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    Sets the thresholds for camera pose estimates.
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    double
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    targetAmbiguity()
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    Returns the ambiguity of the best target with lower being more accurate.
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    int
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    targetId()
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    Returns the ID of the best target.
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    void
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    update()
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    Gets the latest targets.
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    Methods inherited from class org.photonvision.PhotonCamera

    -close, getCameraMatrix, getCameraTable, getDistCoeffs, getDriverMode, getLatestResult, getLEDMode, getPipelineIndex, hasTargets, isConnected, setDriverMode, setLED, setPipelineIndex, setVersionCheckEnabled, takeInputSnapshot, takeOutputSnapshot
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    Methods inherited from class java.lang.Object

    -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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    Field Details

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      camera

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      public final Camera camera
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    Constructor Details

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      NAR_Camera

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      public NAR_Camera(Camera camera)
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      Creates a NAR_Camera object.
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      Parameters:
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      camera - Specs of the camera.
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    Method Details

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      setResources

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      public static void setResources(DoubleSupplier gyro, - BiConsumer<edu.wpi.first.math.geometry.Pose2d,Double> odometry, - HashMap<Integer,edu.wpi.first.math.geometry.Pose2d> aprilTags, - Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier)
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      Sets the necessary resources for cameras to function.
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      Parameters:
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      gyro - Feeds the angle of the robot.
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      odometry - Feeds the robot odometry object for vision estimates to update.
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      aprilTags - Sets the AprilTag positions on the field.
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      poseSupplier - Supplies the robot's current pose.
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      setThresholds

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      public static void setThresholds(double angleThreshold, - double distanceThreshold, - double ambiguityThreshold, - boolean multipleTargets)
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      Sets the thresholds for camera pose estimates. -

      Defaults: 30 degrees, 5 meters, 0.5, false.

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      Parameters:
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      angleThreshold - Angle offset to stop using estimates.
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      distanceThreshold - Distance to stop accepting updates.
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      ambiguityThreshold - Pose ambiguity from 0.0 to 1.0 to reject estimates.
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      multipleTargets - Update position using multiple tags.
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      enable

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      public void enable()
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      Allows the camera to update robot odometry.
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      disable

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      public void disable()
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      Stops the camera from updating robot odometry.
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      update

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      public void update()
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      Gets the latest targets.
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      hasTarget

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      public boolean hasTarget()
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      Returns whether or not the camera sees a target.
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      Returns:
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      If camera sees any targets.
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      getDistance

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      public double getDistance()
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      Returns the distance from the best target to the camera.
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      Returns:
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      The distance in meters.
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      targetId

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      public int targetId()
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      Returns the ID of the best target.
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      Returns:
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      The target ID as an integer.
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      targetAmbiguity

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      public double targetAmbiguity()
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      Returns the ambiguity of the best target with lower being more accurate.
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      A value from 0.0 to 1.0 representing the accuracy of the target.
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      getTarget3d

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      public edu.wpi.first.math.geometry.Transform3d getTarget3d()
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      Returns the best target to camera vector as a Transform3d.
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      Transform3d with coordinate system relative to camera.
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      getRelTarget

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      public edu.wpi.first.math.geometry.Transform2d getRelTarget()
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      Returns the best target to camera vector as a Transform2d. -

      - Factors in camera pitch offset.

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      Transform2d with coordinate system relative to camera.
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      getAccTarget

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      public edu.wpi.first.math.geometry.Transform2d getAccTarget()
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      Returns the best target to camera vector as a Transform2d.
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      Transform2d with coordinate system relative to target.
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      getPos

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      public edu.wpi.first.math.geometry.Pose2d getPos()
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      Returns position of the robot on the field based on the best target.
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      Pose estimate.
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      getName

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      public String getName()
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      Overrides:
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      getName in class org.photonvision.PhotonCamera
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      Returns:
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      The name of the camera.
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