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.


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.


next – The next input value.


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

lastValue() float

Returns the last value calculated by the MedianFilter.


The last value.

reset() None

Resets the filter, clearing the window of all elements.