Package frc.robot.localization

Class CameraProcessor

java.lang.Object

frc.robot.localization.CameraProcessor

public class CameraProcessor
extends Object

Filters a PhotonPipelineResult and, when the result passes all quality checks, produces a VisionObservation ready for fusion into DrivetrainState.

This class is stateless with respect to the robot pose it only decides whether a camera frame is trustworthy and computes the appropriate standard deviations. Pose-estimator mutations remain the exclusive responsibility of DrivetrainState.

For fixed cameras, use the single-argument constructor. For turreted cameras, supply a TurretCameraAdapter that is kept up to date with turret angle samples by the Turret subsystem.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	CameraProcessor.Err<T,E>	Err results
static final record	CameraProcessor.Ok<T,E>	Ok results
static interface	CameraProcessor.Result<T,E>	results tuple

Constructor Summary

Constructors

Constructor	Description
CameraProcessor(CameraConstants cameraConstants)	Creates a CameraProcessor for a fixed (non-turret) camera.
CameraProcessor(CameraConstants cameraConstants, @Nullable TurretCameraAdapter adapter)	Creates a CameraProcessor, optionally backed by a TurretCameraAdapter for turreted cameras.

Method Summary

Modifier and Type	Method	Description
CameraProcessor.Result<VisionObservation,RejectionReason>	process(org.photonvision.targeting.PhotonPipelineResult result, ChassisSpeeds currentSpeeds)	processes photon results to get robots pose

Methods inherited from class java.lang.Object

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

Constructor Details

CameraProcessor

public CameraProcessor(CameraConstants cameraConstants)

Creates a CameraProcessor for a fixed (non-turret) camera.

Parameters:

cameraConstants - tuning constants for this camera

CameraProcessor

public CameraProcessor(CameraConstants cameraConstants,
 @Nullable TurretCameraAdapter adapter)

Creates a CameraProcessor, optionally backed by a TurretCameraAdapter for turreted cameras.

Parameters:

cameraConstants - tuning constants for this camera

adapter - turret adapter, or null if this is a fixed camera

Method Details

process

public CameraProcessor.Result<VisionObservation,RejectionReason> process(org.photonvision.targeting.PhotonPipelineResult result,
 ChassisSpeeds currentSpeeds)

processes photon results to get robots pose

Parameters:

result - photon results

currentSpeeds - robot speeds

Returns:

position data