photon::VisionEstimation Namespace Reference

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

Function Documentation

EstimateCamPosePNP()

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 frc::AprilTagFieldLayout &	layout,
		const TargetModel &	tagModel )

EstimateRobotPoseConstrainedSolvePNP()

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 frc::Transform3d &	robot2Camera,
		const frc::Pose3d &	robotPoseSeed,
		const frc::AprilTagFieldLayout &	layout,
		const photon::TargetModel &	tagModel,
		bool	headingFree,
		frc::Rotation2d	gyroTheta,
		double	gyroErrorScaleFac )

GetVisibleLayoutTags()

std::vector< frc::AprilTag > photon::VisionEstimation::GetVisibleLayoutTags	(	const std::vector< PhotonTrackedTarget > &	visTags,
		const frc::AprilTagFieldLayout &	layout )