Getting Target Data

Constructing a SynapseCamera

What is a SynapseCamera?

SynapseCamera is a class in Synapse that provides a simple and consistent interface for interacting with a camera connected to a Synapse coprocessor. It exposes commonly used vision data, including pipeline results, latency, and other metadata published by Synapse.

The SynapseCamera class provides two constructors:

• A constructor that takes only the camera name. This version automatically uses the default Synapse coprocessor name, making it convenient when your setup only includes one coprocessor or when you want to rely on the standard configuration.

• A constructor that accepts both a coprocessor name and a camera name. This allows you to explicitly specify which coprocessor the camera belongs to, which is helpful in systems with multiple coprocessors or custom naming schemes.

In both cases, the camera name must match the camera’s configured name in the Synapse web UI to ensure proper communication over NetworkTables.

Java

// Change this to match the name of your camera and coprocessor
SynapseCamera camera = new SynapseCamera("camera1", "OrangePiSynapse");

Python

Getting The Pipeline Results

Use the getResults(SynapsePipelineType<T> t) to obtain the latest pipeline results. This method returns an Optional<T> where T is the result type of the passed pipleine (will return Optional.empty() if the camera is not currently using the same pipeline type as the passed one of there are no results)

Java

Optional<ApriltagResult> results = Optional.empty();
// Query the latest apriltag results from camera
results = camera.getResults(SynapsePipelineType.kApriltag);

Python

Apriltag Results

Color Detection Results