Package frc.lib.util

Class PhotonCameraWrapper

java.lang.Object

frc.lib.util.PhotonCameraWrapper

public class PhotonCameraWrapper
extends Object

PhotonCamera-based Pose Estimator.

Constructor Summary

Constructors

Constructor	Description
PhotonCameraWrapper(String cameraName, Transform3d robotToCam)	PhotonCamera-based Pose Estimator.

Method Summary

Modifier and Type	Method	Description
Optional<org.photonvision.EstimatedRobotPose>	getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose)
Optional<Pose2d>	getInitialPose()	Get estimated pose without a prior.
double	latency()
boolean	seesTarget()	Gets if photonvision can see a target.

Methods inherited from class java.lang.Object

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

Constructor Details

PhotonCameraWrapper

public PhotonCameraWrapper(String cameraName,
 Transform3d robotToCam)

PhotonCamera-based Pose Estimator.

Parameters:

cameraName - camera name (not to be confused with mDNS name).

robotToCam - transform from robot body coordinates to camera coordinates.

Method Details

seesTarget

public boolean seesTarget()

Gets if photonvision can see a target.

getInitialPose

public Optional<Pose2d> getInitialPose()

Get estimated pose without a prior.

Returns:

an estimated Pose2d based solely on apriltags

latency

public double latency()

getEstimatedGlobalPose

public Optional<org.photonvision.EstimatedRobotPose> getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose)

Parameters:

prevEstimatedRobotPose - The current best guess at robot pose

Returns:

an EstimatedRobotPose with an estimated pose, the timestamp, and targets used to create the estimate