photon::PhotonPoseEstimator Class Reference

The PhotonPoseEstimator class filters or combines readings from all the fiducials visible at a given timestamp on the field to produce a single robot in field pose, using the strategy set below. More...

#include <photon/PhotonPoseEstimator.h>

Public Member Functions
	PhotonPoseEstimator (frc::AprilTagFieldLayout aprilTags, PoseStrategy strategy, frc::Transform3d robotToCamera)
	Create a new PhotonPoseEstimator.
frc::AprilTagFieldLayout	GetFieldLayout () const
	Get the AprilTagFieldLayout being used by the PositionEstimator.
PoseStrategy	GetPoseStrategy () const
	Get the Position Estimation Strategy being used by the Position Estimator.
void	SetPoseStrategy (PoseStrategy strat)
	Set the Position Estimation Strategy used by the Position Estimator.
void	SetMultiTagFallbackStrategy (PoseStrategy strategy)
	Set the Position Estimation Strategy used in multi-tag mode when only one tag can be seen.
frc::Pose3d	GetReferencePose () const
	Return the reference position that is being used by the estimator.
void	SetReferencePose (frc::Pose3d referencePose)
	Update the stored reference pose for use when using the CLOSEST_TO_REFERENCE_POSE strategy.
frc::Transform3d	GetRobotToCameraTransform ()
void	SetRobotToCameraTransform (frc::Transform3d robotToCamera)
	Useful for pan and tilt mechanisms, or cameras on turrets.
void	SetLastPose (frc::Pose3d lastPose)
	Update the stored last pose.
std::optional< EstimatedRobotPose >	Update (const PhotonPipelineResult &result, std::optional< PhotonCamera::CameraMatrix > cameraMatrixData=std::nullopt, std::optional< PhotonCamera::DistortionMatrix > coeffsData=std::nullopt)
	Update the pose estimator.

Detailed Description

The PhotonPoseEstimator class filters or combines readings from all the fiducials visible at a given timestamp on the field to produce a single robot in field pose, using the strategy set below.

Example usage can be found in our apriltagExample example project.

Constructor & Destructor Documentation

PhotonPoseEstimator()

photon::PhotonPoseEstimator::PhotonPoseEstimator ( frc::AprilTagFieldLayout aprilTags, PoseStrategy strategy, frc::Transform3d robotToCamera )

explicit

Create a new PhotonPoseEstimator.

Parameters

aprilTags	A AprilTagFieldLayout linking AprilTag IDs to Pose3ds with respect to the FIRST field.
strategy	The strategy it should use to determine the best pose.
robotToCamera	Transform3d from the center of the robot to the camera mount positions (ie, robot ➔ camera).

Member Function Documentation

GetFieldLayout()

frc::AprilTagFieldLayout photon::PhotonPoseEstimator::GetFieldLayout ( ) const

inline

Get the AprilTagFieldLayout being used by the PositionEstimator.

Returns

the AprilTagFieldLayout

GetPoseStrategy()

PoseStrategy photon::PhotonPoseEstimator::GetPoseStrategy ( ) const

inline

Get the Position Estimation Strategy being used by the Position Estimator.

Returns

the strategy

GetReferencePose()

frc::Pose3d photon::PhotonPoseEstimator::GetReferencePose ( ) const

inline

Return the reference position that is being used by the estimator.

Returns

the referencePose

GetRobotToCameraTransform()

frc::Transform3d photon::PhotonPoseEstimator::GetRobotToCameraTransform ( )

inline

Returns

The current transform from the center of the robot to the camera mount position.

SetLastPose()

void photon::PhotonPoseEstimator::SetLastPose ( frc::Pose3d lastPose )

inline

Update the stored last pose.

Useful for setting the initial estimate when using the CLOSEST_TO_LAST_POSE strategy.

Parameters

lastPose

the lastPose to set

SetMultiTagFallbackStrategy()

void photon::PhotonPoseEstimator::SetMultiTagFallbackStrategy

(

PoseStrategy

strategy

)

Set the Position Estimation Strategy used in multi-tag mode when only one tag can be seen.

Must NOT be MULTI_TAG_PNP

Parameters

strategy

the strategy to set

SetPoseStrategy()

void photon::PhotonPoseEstimator::SetPoseStrategy ( PoseStrategy strat )

inline

Set the Position Estimation Strategy used by the Position Estimator.

Parameters

strategy

the strategy to set

SetReferencePose()

void photon::PhotonPoseEstimator::SetReferencePose ( frc::Pose3d referencePose )

inline

Update the stored reference pose for use when using the CLOSEST_TO_REFERENCE_POSE strategy.

Parameters

referencePose

the referencePose to set

SetRobotToCameraTransform()

void photon::PhotonPoseEstimator::SetRobotToCameraTransform ( frc::Transform3d robotToCamera )

inline

Useful for pan and tilt mechanisms, or cameras on turrets.

Parameters

robotToCamera

The current transform from the center of the robot to the camera mount position.

Update()

std::optional< EstimatedRobotPose > photon::PhotonPoseEstimator::Update	(	const PhotonPipelineResult &	result,
		std::optional< PhotonCamera::CameraMatrix >	cameraMatrixData = std::nullopt,
		std::optional< PhotonCamera::DistortionMatrix >	coeffsData = std::nullopt )

Update the pose estimator.

If updating multiple times per loop, you should call this exactly once per new result, in order of increasing result timestamp.

Parameters

result	The vision targeting result to process
cameraIntrinsics	The camera calibration pinhole coefficients matrix. Only required if doing multitag-on-rio, and may be nullopt otherwise.
distCoeffsData	The camera calibration distortion coefficients. Only required if doing multitag-on-rio, and may be nullopt otherwise.

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The documentation for this class was generated from the following file:

• photon/PhotonPoseEstimator.h