Photon Module
class PhotonModule(val cameraName: String, val cameraPos: Transform3d, fieldLayout: AprilTagFieldLayout)
The PhotonModule class represents a single Photonvision camera setup with its associated pose estimator and position information.
Properties
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Retrieves all unread results from the PhotonCamera.
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The name of the camera.
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The current standard deviations for 2D pose estimation.
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The current standard deviations for 3D pose estimation.
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The PhotonPoseEstimator instance for estimating the robot's pose.
Functions
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fun updateEstimatedStdDevs(estimatedPose: Optional<EstimatedRobotPose>, targets: List<PhotonTrackedTarget>, singleTargetVector: Matrix<N3, N1> = DEFAULT_SINGLE_TARGET_STD_DEVS_2D, multiTargetVector: Matrix<N3, N1> = DEFAULT_MULTI_TARGET_STD_DEVS_2D)
Updates the estimated standard deviations based on the provided estimated pose and targets.
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fun updateEstimatedStdDevs3d(estimatedPose: Optional<EstimatedRobotPose>, targets: List<PhotonTrackedTarget>, singleTargetVector: Matrix<N4, N1> = DEFAULT_SINGLE_TARGET_STD_DEVS_3D, multiTargetVector: Matrix<N4, N1> = DEFAULT_MULTI_TARGET_STD_DEVS_3D)
Updates the estimated 3D standard deviations.