Calibration

Distance comes from the camera’s mounting geometry. A few millimeters off in height or pitch becomes inches off at range.

Method	Meaning	Units
cameraHeightIn	Floor to the lens center	inches
targetHeightIn	Floor to the element center	inches
cameraPitchDeg	Tilt above horizontal. Negative looks down.	degrees
cameraForwardIn	Lens ahead of robot center	inches
cameraLeftIn	Lens left of robot center	inches
minConfidence	Lowest confidence to keep	0 to 1
maxStalenessMs	Oldest data to keep	ms
limelightPipeline	Pipeline index from the Limelight UI	index
limelightPollingRateHz	How often the SDK reads the camera	Hz

Measure

• Height. Floor to the middle of the lens. Same for the element.
• Pitch. Angle gauge against the housing. Tilted 25° at the floor is -25.
• Offsets. Robot center of rotation to the lens. Forward positive, left positive.

Take the numbers from CAD, then check them on the robot.

Frames

Robot frame: +X forward, +Y left. Field axes match Pedro Pathing; heading is radians counter-clockwise from +X.

The camera reports tx (positive right) and ty (positive up). FieldProjector intersects that ray with the plane at the element’s height, then the robot pose moves it into the field frame. Rays that never reach that height are dropped.

Example

VisionConfig config = new VisionConfig()
        .cameraHeightIn(9.25)
        .targetHeightIn(3.0)
        .cameraPitchDeg(-25.0)
        .cameraForwardIn(4.5)
        .cameraLeftIn(-1.2)    // 1.2" right of center
        .minConfidence(0.40)
        .maxStalenessMs(150);