MedianFilter

class wpimath.filter.MedianFilter(size: int)

Bases: pybind11_object

A class that implements a moving-window median filter. Useful for reducing measurement noise, especially with processes that generate occasional, extreme outliers (such as values from vision processing, LIDAR, or ultrasonic sensors).

Creates a new MedianFilter.

Parameters:

size – The number of samples in the moving window.

calculate(next: float) → float

Calculates the moving-window median for the next value of the input stream.

Parameters:

next – The next input value.

Returns:

The median of the moving window, updated to include the next value.

lastValue() → float

Returns the last value calculated by the MedianFilter.

Returns:

The last value.

reset() → None

Resets the filter, clearing the window of all elements.