Package xbot.common.subsystems.vision

Class AprilTagVisionIOPhotonVisionEstimator

java.lang.Object

xbot.common.subsystems.vision.AprilTagVisionIOPhotonVisionEstimator

All Implemented Interfaces:

AprilTagVisionIO

public class AprilTagVisionIOPhotonVisionEstimator
extends Object
implements AprilTagVisionIO

IO implementation for real PhotonVision hardware. Based on the AdvantageKit sample implementation by team 6328.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	AprilTagVisionIOPhotonVisionEstimator.FactoryImpl

Nested classes/interfaces inherited from interface xbot.common.subsystems.vision.AprilTagVisionIO

AprilTagVisionIO.PoseObservation, AprilTagVisionIO.PoseObservationType, AprilTagVisionIO.TargetObservation, AprilTagVisionIO.VisionIOInputs

Field Summary

Fields

Modifier and Type	Field	Description
protected final PhotonCamera	camera
static final Matrix<N3,N1>	kMultiTagStdDevs
static final Matrix<N3,N1>	kSingleTagStdDevs
protected final Transform3d	robotToCamera

Constructor Summary

Constructors

Constructor	Description
AprilTagVisionIOPhotonVisionEstimator(String name, Transform3d robotToCamera, AprilTagFieldLayout fieldLayout, PropertyFactory pf)	Creates a new VisionIOPhotonVisionEstimator.

Method Summary

Modifier and Type	Method	Description
void	updateInputs(AprilTagVisionIO.VisionIOInputs inputs)

Methods inherited from class java.lang.Object

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

Field Details

kSingleTagStdDevs

public static final Matrix<N3,N1> kSingleTagStdDevs

kMultiTagStdDevs

public static final Matrix<N3,N1> kMultiTagStdDevs

camera

protected final PhotonCamera camera

robotToCamera

protected final Transform3d robotToCamera

Constructor Details

AprilTagVisionIOPhotonVisionEstimator

@AssistedInject
public AprilTagVisionIOPhotonVisionEstimator(@Assisted
 String name,
 @Assisted
 Transform3d robotToCamera,
 AprilTagFieldLayout fieldLayout,
 PropertyFactory pf)

Creates a new VisionIOPhotonVisionEstimator.

Parameters:

name - The configured name of the camera.

robotToCamera - The 3D position of the camera relative to the robot.

fieldLayout - The April Tag field layout.

Method Details

updateInputs

public void updateInputs(AprilTagVisionIO.VisionIOInputs inputs)

Specified by:

updateInputs in interface AprilTagVisionIO