Reefscape2025/frc.robot.subsystems/PhotonModule

PhotonModule

public class PhotonModule

The CameraModule class represents a single Photonvision camera setup with its associated pose estimator and position information. This class encapsulates all the functionality needed for a single camera to track AprilTags and estimate robot pose.

Constructors

Link copied to clipboard
public void PhotonModule(String cameraName, Transform3d cameraPos, AprilTagFieldLayout fieldLayout)
Creates a new CameraModule with the specified parameters.

Properties

Link copied to clipboard
public final PhotonCamera camera

Functions

Link copied to clipboard
public List<PhotonPipelineResult> getAllUnreadResults()
Gets all unread pipeline results from the camera.
Link copied to clipboard
public PhotonCamera getCamera()
Link copied to clipboard
public String getCameraName()
Gets the name of the camera associated with this module.
Link copied to clipboard
public Transform3d getCameraPosition()
Gets the camera's position relative to the robot.
Link copied to clipboard
public Matrix<N3, N1> getCurrentStdDevs()
Gets the current standard deviations used for robot pose estimation.
Link copied to clipboard
public Matrix<N4, N1> getCurrentStdDevs3d()
Gets the current standard deviations used for 3D robot pose estimation.
Link copied to clipboard
public PhotonPoseEstimator getPoseEstimator()
Gets the pose estimator associated with this camera.
Link copied to clipboard
public void updateEstimatedStdDevs(Optional<EstimatedRobotPose> estimatedPose, List<PhotonTrackedTarget> targets)
Updates the estimated standard deviations based on the provided estimated pose and list of tracked targets.
Link copied to clipboard
public void updateEstimatedStdDevs3d(Optional<EstimatedRobotPose> estimatedPose, List<PhotonTrackedTarget> targets)
Updates the estimated standard deviations based on the provided estimated pose and list of tracked targets.