Package frc.robot.subsystems.apriltagvision.io

Class AprilTagVisionIOPhotonVision

java.lang.Object

frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVision

All Implemented Interfaces:

AprilTagVisionIO

Direct Known Subclasses:

AprilTagVisionIOPhotonVisionSim

public class AprilTagVisionIOPhotonVision
extends Object
implements AprilTagVisionIO

AprilTagVisionIO implementation for PhotonVision cameras.

Processes camera frames to extract AprilTag observations for pose estimation.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO

AprilTagVisionIO.AprilTagVisionIOInputs, AprilTagVisionIO.PoseObservation, AprilTagVisionIO.TargetObservation

Field Summary

Fields

Modifier and Type	Field	Description
protected final org.photonvision.PhotonCamera	camera	PhotonVision camera instance used to pull pipeline results.
protected final edu.wpi.first.apriltag.AprilTagFieldLayout	fieldLayout	Field layout that maps AprilTag IDs to field poses.
protected final double	maxTagDistanceMeters	Maximum distance in meters from the camera to a tag before the tag is excluded from observations.
protected final edu.wpi.first.math.geometry.Transform3d	robotToCamera	Transform from robot center to the camera position.

Constructor Summary

Constructors

Constructor	Description
AprilTagVisionIOPhotonVision(String cameraName, edu.wpi.first.math.geometry.Transform3d robotToCamera, edu.wpi.first.apriltag.AprilTagFieldLayout fieldLayout, double maxTagDistanceMeters)	Creates a PhotonVision-backed AprilTag IO implementation.

Method Summary

Modifier and Type	Method	Description
void	updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs inputs)	Refreshes the inputs structure with the latest state from the vision subsystem.

Methods inherited from class java.lang.Object

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

Field Details

camera

protected final org.photonvision.PhotonCamera camera

PhotonVision camera instance used to pull pipeline results.

robotToCamera

protected final edu.wpi.first.math.geometry.Transform3d robotToCamera

Transform from robot center to the camera position.

fieldLayout

protected final edu.wpi.first.apriltag.AprilTagFieldLayout fieldLayout

Field layout that maps AprilTag IDs to field poses.

maxTagDistanceMeters

protected final double maxTagDistanceMeters

Maximum distance in meters from the camera to a tag before the tag is excluded from observations.

Constructor Details

AprilTagVisionIOPhotonVision

public AprilTagVisionIOPhotonVision(String cameraName,
 edu.wpi.first.math.geometry.Transform3d robotToCamera,
 edu.wpi.first.apriltag.AprilTagFieldLayout fieldLayout,
 double maxTagDistanceMeters)

Creates a PhotonVision-backed AprilTag IO implementation.

Parameters:

cameraName - name of the PhotonVision camera instance

robotToCamera - robot-to-camera transform in meters and radians

fieldLayout - AprilTag field layout used to look up tag poses

maxTagDistanceMeters - maximum distance in meters from camera to a tag; tags beyond this are excluded

Method Details

updateInputs

public void updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs inputs)

Description copied from interface: AprilTagVisionIO

Refreshes the inputs structure with the latest state from the vision subsystem.

Specified by:

updateInputs in interface AprilTagVisionIO

Parameters:

inputs - mutable inputs container to populate for logging