PhotonPoseEstimator

class photonvision.PhotonPoseEstimator(aprilTags: robotpy_apriltag._apriltag.AprilTagFieldLayout, strategy: photonvision._photonvision.PoseStrategy, camera: photonvision._photonvision.PhotonCamera, robotToCamera: wpimath.geometry._geometry.Transform3d)

Bases: pybind11_object

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.

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.

  • camera – The PhotonCamera.

  • robotToCamera – Transform3d from the center of the robot to the camera mount positions (ie, robot ➔ camera).

getCamera() → photonvision._photonvision.PhotonCamera
getFieldLayout() → robotpy_apriltag._apriltag.AprilTagFieldLayout

Get the AprilTagFieldLayout being used by the PositionEstimator.

Returns:

the AprilTagFieldLayout

getPoseStrategy() → photonvision._photonvision.PoseStrategy

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

Returns:

the strategy

getReferencePose() → wpimath.geometry._geometry.Pose3d

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

Returns:

the referencePose

getRobotToCameraTransform() → wpimath.geometry._geometry.Transform3d
Returns:

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

setLastPose(lastPose: wpimath.geometry._geometry.Pose3d) → None

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(strategy: photonvision._photonvision.PoseStrategy) → None

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(strat: photonvision._photonvision.PoseStrategy) → None

Set the Position Estimation Strategy used by the Position Estimator.

Parameters:

strategy – the strategy to set

setReferencePose(referencePose: wpimath.geometry._geometry.Pose3d) → None

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

Parameters:

referencePose – the referencePose to set

setRobotToCameraTransform(robotToCamera: wpimath.geometry._geometry.Transform3d) → None

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(*args, **kwargs)

Overloaded function.

  1. update(self: photonvision._photonvision.PhotonPoseEstimator) -> Optional[photonvision._photonvision.EstimatedRobotPose]

Update the pose estimator. Internally grabs a new PhotonPipelineResult from the camera and process it.

  1. update(self: photonvision._photonvision.PhotonPoseEstimator, result: photonvision._photonvision.PhotonPipelineResult) -> Optional[photonvision._photonvision.EstimatedRobotPose]

Update the pose estimator.