Malefix/xyz.malefic.frc.vision/PhotonModule

PhotonModule

class PhotonModule(cameraName: String, val cameraPos: Transform3d, fieldLayout: AprilTagFieldLayout) : Camera

The PhotonModule class represents a single PhotonVision camera setup with its associated PhotonPoseEstimator and position information.

Integrates with WPILib 2026 vision estimation APIs for improved pose accuracy. Implements the Camera interface for unified vision system integration.

Usage Example:

val camera = PhotonModule(
    cameraName = "frontCamera",
    cameraPos = Transform3d(Translation3d(0.3, 0.0, 0.2), Rotation3d(0.0, Math.toRadians(-15.0), 0.0)),
    fieldLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField()
)

// Get latest measurement
val measurement = camera.getLatestMeasurement()
measurement?.let {
    swerveDrive.addVisionMeasurement(it.pose, it.timestampSeconds, it.stdDevs)
}

Constructors

PhotonModule

constructor(cameraName: String, cameraPos: Transform3d, fieldLayout: AprilTagFieldLayout)

Types

Companion

object Companion

Properties

cameraPos

val cameraPos: Transform3d

The position of the camera relative to robot center as a Transform3d.

currentStdDevs

var currentStdDevs: Matrix<N3, N1>

The current standard deviations for pose estimation as a Matrix.

name

open override val name: String

The name of this camera.

Functions

getAllUnreadMeasurements

open override fun getAllUnreadMeasurements(): List<VisionMeasurement>

Gets all unprocessed vision measurements since the last call.

getAllUnreadResults

fun getAllUnreadResults(): List<PhotonPipelineResult>

Gets all unread PhotonPipelineResults from the PhotonCamera.

getDistanceToTag

open override fun getDistanceToTag(tagId: Int?): Distance?

Gets the distance to a tag.

getLatestMeasurement

open override fun getLatestMeasurement(referencePose: Pose2d?): VisionMeasurement?

Gets the latest vision measurement from the camera.

getLatestResult

fun getLatestResult(): PhotonPipelineResult

Gets the latest PhotonPipelineResult from the camera.

getTargetHorizontalOffset

open override fun getTargetHorizontalOffset(): Angle?

Gets the horizontal offset to the currently tracked target.

getTargetVerticalOffset

open override fun getTargetVerticalOffset(): Angle?

Gets the vertical offset to the currently tracked target.

hasTarget

open override fun hasTarget(): Boolean

Checks if the camera currently sees any valid targets.

updateEstimatedStdDevs

fun updateEstimatedStdDevs(result: PhotonPipelineResult, estimatedPose: EstimatedRobotPose?, singleTargetVector: Matrix<N3, N1> = DEFAULT_SINGLE_TARGET_STD_DEVS, multiTargetVector: Matrix<N3, N1> = DEFAULT_MULTI_TARGET_STD_DEVS)

Updates the estimated standard deviations based on the provided result.