Package org.hivevisionftc.vision

Class HiveVision

java.lang.Object

org.hivevisionftc.vision.HiveVision

public final class HiveVision
extends Object

Entry point: fetches detections, drops the ones you don't want, and returns them in field coordinates.

Constructor Summary

Constructors

Constructor	Description
HiveVision(com.qualcomm.hardware.limelightvision.Limelight3A limelight, VisionConfig config)
HiveVision(DetectionSource source, VisionConfig config)

Method Summary

Modifier and Type	Method	Description
List<Detection>	fetchDetections(Pose robotPose)	Fetches the latest detections, nearest first.
HiveVision	setAllowedClasses(BiobuzzClasses... classes)	Restricts results to the given classes.

Methods inherited from class java.lang.Object

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

Constructor Details

HiveVision

public HiveVision(DetectionSource source,
 VisionConfig config)

HiveVision

public HiveVision(com.qualcomm.hardware.limelightvision.Limelight3A limelight,
 VisionConfig config)

Method Details

setAllowedClasses

public HiveVision setAllowedClasses(BiobuzzClasses... classes)

Restricts results to the given classes. With no classes given, everything is allowed again.

fetchDetections

public List<Detection> fetchDetections(Pose robotPose)

Fetches the latest detections, nearest first.

Detections are dropped if the data is older than VisionConfig.getMaxStalenessMs(), if the confidence is below VisionConfig.getMinConfidence(), or if the class is not allowed.

Parameters:

robotPose - the robot's current pose, used to place detections on the field

Returns:

a new list, possibly empty