Getting Started
Getting Started
Mounting
Wiring
Imaging
Networking Setup
Basic Programming
Building A Pipeline
Input Tab
Pipeline Type
Source Image
Resolution + Zoom
LEDs
Orientation
Exposure
Black Level Offset
Red Balance, Blue Balance
Thresholding Tab
Video Feed (Located beneath stream)
Thresholding Wands
Hue
Saturation
Value
Erosion and Dilation
Hue Inversion
Contour Filtering
Sort Mode
Target Area
Target Fullness
Target Aspect Ratio
Direction Filter
Smart Speckle Rejection
Target Grouping
Intersection Filter (Dual Targets Only)
Smart Target Grouping
Output
Targeting Region
Send Raw Corners?
Send Raw Contours?
Crosshair Calibration
3D
Compute 3D
Force Convex
Contour Simplification
Acceptable Error
Goal Z-Offset
Camera Matricies (Advanced Users)
Crosshair Calibration
Single Crosshair Mode
Dual Crosshair Mode
Using Multiple Pipelines
Best Practices
Before An Event
During Event Calibration
Pipeline Tuning
Before Connecting to the Field
Before Every Match
Bandwidth
Troubleshooting
Additional Theory
Vision Targets
Thresholding
Contour Filtering
From Pixels to Angles
Programming
Complete NetworkTables API
Camera Controls
Python
Corners
Advanced Usage with Raw Contours
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
Python Scripting
Using Python to create Custom OpenCV Vision Pipelines
Minimal Limelight Python Script
Python Examples
GRIP Support
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
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
2022.3.0 (4/13/22)
Bugfixes
Features and Changes
2022.2.3 (3/16/22)
Bugfixes
Features and Changes
2022.2.2 (2/23/22)
Bugfixes
Features and Changes
2022.1 (1/25/22)
Bugfixes
Features
2022.0 and 2022.0.3 (1/15/22)
Features
2020.4 (3/11/20)
2020.3 (2/25/20)
2020.2 (1/30/20)
Features
Bugfixes
2020.1 (1/16/20)
Features
Bugfixes
2019.7 (4/5/19)
Features
Changes
2019.6.1 Hotfix (3/14/19)
2019.6 (3/12/19)
Bugfixes
Features & Changes
2019.5 (2/9/19)
Features
Breaking Changes
Bug Fixes
2019.4 (1/26/19)
Features
Bug Fixes
2019.3 (1/19/19)
Features
Bug Fixes
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)
Changes
2018.2 (2/10/18)
Features
Optimizations
Bug Fixes
2018.1 (1/8/18)
2018.0 (1/3/18)
Features
Optimizations
Bugfixes
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)
Limelight
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