VisionEstimation.h File Reference

#include <vector>
#include <Eigen/Core>
#include <wpi/apriltag/AprilTag.hpp>
#include <wpi/apriltag/AprilTagFieldLayout.hpp>
#include "TargetModel.h"
#include "photon/targeting/PhotonTrackedTarget.h"
#include "photon/targeting/PnpResult.h"

Go to the source code of this file.

Namespaces
namespace	photon
namespace	photon::VisionEstimation

Functions
std::vector< wpi::apriltag::AprilTag >	photon::VisionEstimation::GetVisibleLayoutTags (const std::vector< PhotonTrackedTarget > &visTags, const wpi::apriltag::AprilTagFieldLayout &layout)
std::optional< photon::PnpResult >	photon::VisionEstimation::EstimateCamPosePNP (const Eigen::Matrix< double, 3, 3 > &cameraMatrix, const Eigen::Matrix< double, 8, 1 > &distCoeffs, const std::vector< PhotonTrackedTarget > &visTags, const wpi::apriltag::AprilTagFieldLayout &layout, const TargetModel &tagModel)
std::optional< photon::PnpResult >	photon::VisionEstimation::EstimateRobotPoseConstrainedSolvePNP (const Eigen::Matrix< double, 3, 3 > &cameraMatrix, const Eigen::Matrix< double, 8, 1 > &distCoeffs, const std::vector< photon::PhotonTrackedTarget > &visTags, const wpi::math::Transform3d &robot2Camera, const wpi::math::Pose3d &robotPoseSeed, const wpi::apriltag::AprilTagFieldLayout &layout, const photon::TargetModel &tagModel, bool headingFree, wpi::math::Rotation2d gyroTheta, double gyroErrorScaleFac)