RobotPoseEstimator

class photonvision.RobotPoseEstimator(aprilTags: robotpy_apriltag._apriltag.AprilTagFieldLayout, strategy: photonvision._photonvision.PoseStrategy, cameras: List[Tuple[photonvision._photonvision.PhotonCamera, wpimath.geometry._geometry.Transform3d]])

Bases: pybind11_object

The RobotPoseEstimator 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 RobotPoseEstimator.

Example: {@code <code> Map<Integer, Pose3d> map = new HashMap<>(); map.put(1, new Pose3d(1.0, 2.0, 3.0, new Rotation3d())); // Tag ID 1 is at (1.0,2.0,3.0) </code> }

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.

• cameras – An ArrayList of Pairs of PhotonCameras and their respective Transform3ds from the center of the robot to the cameras.

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

setCameras(cameras: List[Tuple[photonvision._photonvision.PhotonCamera, wpimath.geometry._geometry.Transform3d]]) → None

Set the cameras to be used by the PoseEstimator.

Parameters:

cameras – cameras to set.

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

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

update() → Tuple[wpimath.geometry._geometry.Pose3d, seconds]