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.

void	AddHeadingData (units::second_t timestamp, frc::Rotation2d heading)
	Add robot heading data to the buffer.

void	AddHeadingData (units::second_t timestamp, frc::Rotation3d heading)
	Add robot heading data to the buffer.

void	ResetHeadingData (units::second_t timestamp, frc::Rotation2d heading)
	Clears all heading data in the buffer, and adds a new seed.

void	ResetHeadingData (units::second_t timestamp, frc::Rotation3d heading)
	Clears all heading data in the buffer, and adds a new seed.

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

◆ AddHeadingData() [1/2]

void photon::PhotonPoseEstimator::AddHeadingData	(	units::second_t	timestamp,
		frc::Rotation2d	heading )

inline

Add robot heading data to the buffer.

Must be called periodically for the PNP_DISTANCE_TRIG_SOLVE strategy.

Parameters

timestamp	Timestamp of the robot heading data.
heading	Field-relative heading at the given timestamp. Standard WPILIB field coordinates.

◆ AddHeadingData() [2/2]

void photon::PhotonPoseEstimator::AddHeadingData	(	units::second_t	timestamp,
		frc::Rotation3d	heading )

inline

Add robot heading data to the buffer.

Must be called periodically for the PNP_DISTANCE_TRIG_SOLVE strategy.

Parameters

timestamp	Timestamp of the robot heading data.
heading	Field-relative heading at the given timestamp. Standard WPILIB coordinates.

◆ 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.

◆ ResetHeadingData() [1/2]

void photon::PhotonPoseEstimator::ResetHeadingData	(	units::second_t	timestamp,
		frc::Rotation2d	heading )

inline

Clears all heading data in the buffer, and adds a new seed.

Useful for preventing estimates from utilizing heading data provided prior to a pose or rotation reset.

Parameters

timestamp	Timestamp of the robot heading data.
heading	Field-relative robot heading at given timestamp. Standard WPILIB field coordinates.

◆ ResetHeadingData() [2/2]

void photon::PhotonPoseEstimator::ResetHeadingData	(	units::second_t	timestamp,
		frc::Rotation3d	heading )

inline

Clears all heading data in the buffer, and adds a new seed.

Useful for preventing estimates from utilizing heading data provided prior to a pose or rotation reset.

Parameters

timestamp	Timestamp of the robot heading data.
heading	Field-relative robot heading at given timestamp. Standard WPILIB field coordinates.

◆ 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 photon::PhotonPipelineResult &	result,
		std::optional< photon::PhotonCamera::CameraMatrix >	cameraMatrixData = std::nullopt,
		std::optional< photon::PhotonCamera::DistortionMatrix >	coeffsData = std::nullopt,
		std::optional< ConstrainedSolvepnpParams >	constrainedPnpParams = 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.
constrainedPnpParams	Constrained SolvePNP params, if needed.

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

photon/PhotonPoseEstimator.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PhotonPoseEstimator()

Member Function Documentation

◆ AddHeadingData() [1/2]

◆ AddHeadingData() [2/2]

◆ GetFieldLayout()

◆ GetPoseStrategy()

◆ GetReferencePose()

◆ GetRobotToCameraTransform()

◆ ResetHeadingData() [1/2]

◆ ResetHeadingData() [2/2]

◆ SetLastPose()

◆ SetMultiTagFallbackStrategy()

◆ SetPoseStrategy()

◆ SetReferencePose()

◆ SetRobotToCameraTransform()

◆ Update()