Package xbot.common.subsystems.vision

Class AprilTagCamera

java.lang.Object

xbot.common.subsystems.vision.SimpleCamera

xbot.common.subsystems.vision.AprilTagCamera

public class AprilTagCamera
extends SimpleCamera

This class provides common base implementation for April Tag capable cameras on the robot.

Field Summary

Fields inherited from class xbot.common.subsystems.vision.SimpleCamera

camera, friendlyName

Constructor Summary

Constructors

Constructor	Description
AprilTagCamera(CameraInfo cameraInfo, Supplier<Double> poseStableTime, AprilTagFieldLayout fieldLayout, String prefix)	Create a new AprilTagCamera.

Method Summary

Modifier and Type	Method	Description
TimeStableValidator	getIsStableValidator()	Get the time stable validator.
PhotonPoseEstimator	getPoseEstimator()	Get the pose estimator.

Methods inherited from class xbot.common.subsystems.vision.SimpleCamera

getCamera, getName, isCameraWorking

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AprilTagCamera

public AprilTagCamera(CameraInfo cameraInfo,
 Supplier<Double> poseStableTime,
 AprilTagFieldLayout fieldLayout,
 String prefix)

Create a new AprilTagCamera.

Parameters:

cameraInfo - The information about the camera.

poseStableTime - The time that the pose must be stable for before it is considered valid.

fieldLayout - The layout of the field.

Method Details

getPoseEstimator

public PhotonPoseEstimator getPoseEstimator()

Get the pose estimator.

Returns:

The pose estimator.

getIsStableValidator

public TimeStableValidator getIsStableValidator()

Get the time stable validator.

Returns:

The time stable validator.