FTC Pipeline Setup
(Into The Deep GIFS coming soon!)
LimelightOS stores up to 10 unique vision pipelines. A pipeline is like a small program that takes an image, processes the image, and provides a results object for you to use in your robot code. Pipelines run anywhere from 10fps (CPU Neural Networks) to 90fps (Color-based object tracking).
To start tuning pipelines, plug your Limelight into your laptop and go to http://limelight.local:5801 in your web browser. You can also access it directly at http://172.28.0.1:5801 on Windows and http://172.29.0.1:5801 on Mac/ChromeOS/Linux.
If you are an advanced user and have changed the USB Index or Hostname of your LL, you can access the web interface at http://172.28.(usb_index).1:5801, http://172.29.(usb_index).1:5801, or http://(hostname).local:5801
If you have downloaded the Limelight Hardware Manager, you can use the "scan" button to find your Limelight's IP address.
To edit multiple pipelines, you must first check the “Ignore NetworkTables Index” checkbox in the web interface. This tells the camera to ignore any code telling it to change pipelines.
Input Tab
The Input Tab hosts controls to change the raw camera image before it is passed through the processing pipeline.
Pipeline Type
Controls the desired pipeline type (AprilTags, Neural Networks, Python, etc.)
Source Image
Controls the source of the image that is passed through the pipeline. Switch to “Snapshot” to test your vision pipelines on stored Snapshots.
This control auto-resets to “Camera” when the GUI is closed.
Resolution + Zoom
Controls the resolution of the camera and vision pipeline. We recommend using the 320x240 pipeline unless you are utilizing 3D functionality.
320x240 pipelines execute at 90fps, while 960x720 pipelines execute at 22 fps. In 2020, 2x and 3x Hardware Zoom options were added to this field. The zoom options are not digital and use 100% real sensor pixels.
Orientation
Controls the orientation of the stream after all processing. This does not affect results data in any way.
Exposure
Controls the camera’s exposure setting in .01 millisecond intervals. Increasing exposure will increase the effective brightness of the image. It will also increase motion blur.
Black Level Offset
The Black Level Offset is an advanced control that can affect brightness without affecting motion blur. Keep this as low as possible.
Sensor Gain
Increasing sensor gain will effectively increase the brightness of the image, but it will usually add noise to the image as well. You can use Sensor Gain and Black level offset to brighten the image without increasing exposure time. This will minimize motion blur for high-speed tracking applications.
Red Balance, Blue Balance
Controls the intensity of Red and Blue color components in your image. These collectively control your Limelight’s white balance. We recommend leaving these untouched
Detailed Pipeline Setup
Check out specific pipeline types in the documentation sidebar.