NetworkTables API

About

Warning

PhotonVision interfaces with PhotonLib, our vendor dependency, using NetworkTables. If you are running PhotonVision on a robot (ie. with a RoboRIO), you should turn the NetworkTables server switch (in the settings tab) off in order to get PhotonLib to work. Also ensure that you set your team number. The NetworkTables server should only be enabled if you know what you’re doing!

API

Warning

NetworkTables is not a supported setup/viable option when using PhotonVision as we only send one target at a time (this is problematic when using AprilTags, which will return data from multiple tags at once). We recommend using PhotonLib.

The tables below contain the the name of the key for each entry that PhotonVision sends over the network and a short description of the key. The entries should be extracted from a subtable with your camera’s nickname (visible in the PhotonVision UI) under the main photonvision table.

Getting Target Information

Key	Type	Description
`rawBytes`	`byte[]`	A byte-packed string that contains target info from the same timestamp.
`latencyMillis`	`double`	The latency of the pipeline in milliseconds.
`hasTarget`	`boolean`	Whether the pipeline is detecting targets or not.
`targetPitch`	`double`	The pitch of the target in degrees (positive up).
`targetYaw`	`double`	The yaw of the target in degrees (positive right).
`targetArea`	`double`	The area (percent of bounding box in screen) as a percent (0-100).
`targetSkew`	`double`	The skew of the target in degrees (counter-clockwise positive).
`targetPose`	`double[]`	The pose of the target relative to the robot (x, y, z, qw, qx, qy, qz)
`targetPixelsX`	`double`	The target crosshair location horizontally, in pixels (origin top-right)
`targetPixelsY`	`double`	The target crosshair location vertically, in pixels (origin top-right)

Changing Settings

Key	Type	Description
`pipelineIndex`	`int`	Changes the pipeline index.
`driverMode`	`boolean`	Toggles driver mode.

Saving Images

PhotonVision can save images to file on command. The image is saved when PhotonVision detects the command went from false to true.

PhotonVision will automatically set these back to false after 500ms.

Be careful saving images rapidly - it will slow vision processing performance and take up disk space very quickly.

Images are returned as part of the .zip package from the “Export” operation in the Settings tab.

Key	Type	Description
`inputSaveImgCmd`	`boolean`	Triggers saving the current input image to file.
`outputSaveImgCmd`	`boolean`	Triggers saving the current output image to file.

Warning

If you manage to make calls to these commands faster than 500ms (between calls), additional photos will not be captured.

Global Entries

These entries are global, meaning that they should be called on the main photonvision table.

Key	Type	Description
`ledMode`	`int`	Sets the LED Mode (-1: default, 0: off, 1: on, 2: blink)

Warning

Setting the LED mode to -1 (default) when multiple cameras are connected may result in unexpected behavior. This is a known limitation of PhotonVision.

Single camera operation should work without issue.