Limelight Docs

FRC Team 2910, Jack In The Bot (Washington, USA)

Limelight is an easy-to-use smart camera for FRC.

Getting Started

• Mounting
• Wiring
• Imaging
• Networking Setup
• Basic Programming
• Crosshair Calibration
  • Single Crosshair Mode
  • Dual Crosshair Mode
• Status Lights and Blink Patterns
  • Green Status Light
  • Yellow Status Light
  • Green Illumination LEDs
• Using Multiple Pipelines
• Best Practices
  • Before An Event
  • During Event Calibration
  • Pipeline Tuning
  • Before Connecting to the Field
  • Before Every Match
  • Bandwidth
  • Troubleshooting

Retroreflective/Color Pipelines

• Building a Retroreflective/Color Pipeline
  • Input Tab
  • Thresholding Tab
  • Contour Filtering
  • Output
  • 3D
• Additional Theory
  • Vision Targets
  • Thresholding
  • Contour Filtering
  • From Pixels to Angles

AprilTag Pipelines

• Tracking AprilTags
  • Quick Start for FRC AprilTags
  • Tips
  • Input Tab
  • Standard Tab
• (ADVANCED) 3D AprilTags
  • Point-of-Interest Tracking
  • Full 3D Tracking
  • Robot Localization (botpose and MegaTag)
  • Using WPILib’s Pose Estimator
  • Configuring your Limelight’s Robot-Space Pose
• (ADVANCED) 3D Coordinate Systems
  • Limelight Camera Space
  • Target Space
  • Robot Space
  • Field Space
• (ADVANCED) AprilTag Map Specification
  • AprilTag Map for FRC 2023 Charged Up

Neural Network Pipelines

• Getting Started with Neural Networks
  • Neural Detector Pipeline
  • Nerual Classifier Pipeline
• Training Your Own Neural Network
  • Training a Classifier
  • Training a Detector

Python Pipelines

• Using Python to create Custom OpenCV Vision Pipelines
  • Minimal Limelight Python Script
• Python Examples

GRIP Pipelines

• Using Grip to create Custom OpenCV Vision Pipelines
  • Accessing the Video Stream wthin GRIP
  • How Limelight Handles Inputs to the Pipeline
  • Generating output for the Limelight to use
  • Code Generation for Limelight
• Running GRIP Pipelines on Limelight

Programming

• Complete NetworkTables API
  • Basic Targeting Data
  • AprilTag and 3D Data
  • Camera Controls
  • Python
  • Corners
  • Advanced Usage with Raw Contours
• REST/HTTP and Websocket APIs
  • REST/HTTP (PORT 5807) API Summary:
  • Websocket Results Server:
• JSON Dump Specification
  • Retroreflective Results
  • AprilTag/Fiducial Results
  • Neural Detector Results
  • Neural Classifier Results

Case Studies

• Case Study: Estimating Distance
  • Using a Fixed Angle Camera
  • Using Area to Estimate Distance
• Case Study: Aiming Using Vision
• Case Study: Seeking
• Case Study: Getting in Range
• Case Study: Aiming and Range at the same time.
• Case Study: 2017 Fuel Robot
• Case Study: DEEP SPACE 2019 Examples

Camera Intrinsics Calibration

• ChArUco Camera Calibration
  • Performing ChArUco Calibration

Misc

• Frequently Asked Questions
  • Why is limelight using a low (320x240) resolution?
  • What if the game calls for a different tracking algorithm?
  • Why is there an extra usb port?
  • How do I view the video stream?
  • Are the eight LEDs bright enough?
  • Does Limelight support protocols other than NetworkTables?
  • Does Limelight support Active PoE?
  • Should I plug Limelight into our VRM (Voltage Regulator Module)?
  • My robot has extreme voltage swings while driving, will this damage my Limelight?
  • Will Limelight’s LEDs dim when our robot’s voltage drops?
• Additional Resources
  • Team 254 Vision Talk
  • WPI Vision Processing Resources
  • GRIP
• Software Change Log
  • 2023.6 (4/18/23)
  • 2023.5.1 & 2023.5.2(3/22/23)
  • 2023.5.0 (3/21/23)
  • 2023.4.0 (2/18/23)
  • 2023.3.1 (2/14/23)
  • 2023.3 (2/13/23)
  • 2023.2 (1/28/23)
  • 2023.1 (1/19/23)
  • 2023.0.0 and 2023.0.1 (1/11/23)
  • 2022.3.0 (4/13/22)
  • 2022.2.3 (3/16/22)
  • 2022.2.2 (2/23/22)
  • 2022.1 (1/25/22)
  • 2022.0 and 2022.0.3 (1/15/22)
  • 2020.4 (3/11/20)
  • 2020.3 (2/25/20)
  • 2020.2 (1/30/20)
  • 2020.1 (1/16/20)
  • 2019.7 (4/5/19)
  • 2019.6.1 Hotfix (3/14/19)
  • 2019.6 (3/12/19)
  • 2019.5 (2/9/19)
  • 2019.4 (1/26/19)
  • 2019.3 (1/19/19)
  • 2019.2 (1/7/19)
  • 2019.1 (12/18/18)
  • 2019.0 (12/10/18)
  • 2018.5 (3/28/18)
  • 2018.4 (3/19/18)
  • 2018.3 (2/28/18)
  • 2018.2 (2/10/18)
  • 2018.1 (1/8/18)
  • 2018.0 (1/3/18)
  • 2017.7 (11/21/17)
  • 2017.6 (11/13/17)
  • 2017.5 (11/9/17)
  • 2017.4 (10/30/17)
  • 2017.3 (10/25/17)
  • 2017.2 (10/23/17)
  • 2017.1 (10/21/17)