> For the complete documentation index, see [llms.txt](https://yall.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yall.yassrobotics.com/api-reference/java-reference/networktables/limelight-target-data.md).

# LimelightTargetData

**Package:** `limelight.networktables`

2D and 3D per-target metrics for the currently tracked target, accessed via `limelight.getData().targetData`. Reflects whatever pipeline is active — retroreflective, AprilTag, classifier, or detector.

***

## Methods

| Method                               | Returns                | Description                                                                                                                                                                                                                                                                                |
| ------------------------------------ | ---------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| `getTargetStatus()`                  | `boolean`              | `true` if a valid target is present (`tv`). Check this before trusting `tx`/`ty`/etc.                                                                                                                                                                                                      |
| `getHorizontalOffset()`              | `double`               | Crosshair-relative horizontal offset in degrees (`tx`).                                                                                                                                                                                                                                    |
| `getVerticalOffset()`                | `double`               | Crosshair-relative vertical offset in degrees (`ty`).                                                                                                                                                                                                                                      |
| `getHorizontalOffsetFromPrincipal()` | `double`               | Principal-pixel-relative horizontal offset in degrees (`txnc`). More accurate than `tx` on a calibrated camera when adjustable crosshair isn't needed.                                                                                                                                     |
| `getVerticalOffsetFromPrincipal()`   | `double`               | Principal-pixel-relative vertical offset in degrees (`tync`).                                                                                                                                                                                                                              |
| `getTargetArea()`                    | `double`               | Target area as a percentage of the image, 0-100 (`ta`).                                                                                                                                                                                                                                    |
| `getTargetCount()`                   | `int`                  | Number of currently detected targets, decoded from the `t2d` metrics array.                                                                                                                                                                                                                |
| `getAprilTagID()`                    | `double`               | Current fiducial ID (`tid`).                                                                                                                                                                                                                                                               |
| `getNeuralClassID()`                 | `String`               | Current neural class name (`tclass`).                                                                                                                                                                                                                                                      |
| `getClassifierClassIndex()`          | `int`                  | Classifier class index, decoded from `t2d`.                                                                                                                                                                                                                                                |
| `getDetectorClassIndex()`            | `int`                  | Primary detector class index, decoded from `t2d`.                                                                                                                                                                                                                                          |
| `getTargetColor()`                   | `double[]`             | Target color in HSV/RGB format (`tc`).                                                                                                                                                                                                                                                     |
| `getTargetMetrics()`                 | `double[]`             | Raw `t2d` array: `[targetValid, targetCount, targetLatency, captureLatency, tx, ty, txnc, tync, ta, tid, targetClassIndexDetector, targetClassIndexClassifier, targetLongSidePixels, targetShortSidePixels, targetHorizontalExtentPixels, targetVerticalExtentPixels, targetSkewDegrees]`. |
| `getStandardDeviations()`            | `Pair<Pose3d, Pose3d>` | MegaTag1/MegaTag2 standard deviations as `Pair.of(MT1, MT2)`, decoded from `stddevs`.                                                                                                                                                                                                      |
| `getRobotToTarget()`                 | `Pose3d`               | Robot pose relative to the target (`botpose_targetspace`).                                                                                                                                                                                                                                 |
| `getCameraToTarget()`                | `Pose3d`               | Camera pose relative to the target (`camerapose_targetspace`).                                                                                                                                                                                                                             |
| `getTargetToCamera()`                | `Pose3d`               | Target pose relative to the camera (`targetpose_cameraspace`).                                                                                                                                                                                                                             |
| `getTargetToRobot()`                 | `Pose3d`               | Target pose relative to the robot (`targetpose_robotspace`).                                                                                                                                                                                                                               |

## See Also

* [LimelightData](/api-reference/java-reference/networktables/limelight-data.md)
* [LimelightResults](/api-reference/java-reference/networktables/limelight-results.md)


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