Class Limelight.FiducialTarget

java.lang.Object
com.limelightvision.Limelight.LimelightTarget
com.limelightvision.Limelight.FiducialTarget
Enclosing class:
Limelight
public static class Limelight.FiducialTarget extends Limelight.LimelightTarget
An AprilTag/fiducial target.

  • Field Details

    • fiducialId

      public int fiducialId
      Fiducial/AprilTag ID.

    • family

      public String family
      Fiducial family (e.g. "36h11")

    • skew

      public double[] skew
      Target skew values.

    • ambiguity

      public double ambiguity
      Pose ambiguity. Lower is better. Values above 0.7 are usually not reliable

    • fielded

      public boolean fielded
      True if this tag contributed to pose estimation. The tag matched the field map and the ID filters did not exclude it.

    • cameraPoseTargetSpace

      public double[] cameraPoseTargetSpace
      Camera pose in target space [x, y, z, roll, pitch, yaw] (meters, degrees).

    • targetPoseCameraSpace

      public double[] targetPoseCameraSpace
      Target pose in camera space.

    • targetPoseRobotSpace

      public double[] targetPoseRobotSpace
      Target pose in robot space.

    • robotPoseTargetSpace

      public double[] robotPoseTargetSpace
      Robot pose in target space.

    • robotPoseFieldSpace

      public double[] robotPoseFieldSpace
      Robot pose in field space (MegaTag1, this tag only).

    • robotPoseFieldSpaceMT2

      public double[] robotPoseFieldSpaceMT2
      Robot pose in field space (MegaTag2, this tag only).

  • Constructor Details

    • FiducialTarget

      public FiducialTarget()

  • Method Details

    • getDistanceToCamera

      public double getDistanceToCamera()
      Returns 3D distance from the camera to this tag in meters.
      Returns:
      3D distance from the camera to this tag in meters

    • getDistanceToRobot

      public double getDistanceToRobot()
      Returns 3D distance from the robot center to this tag in meters.
      Returns:
      3D distance from the robot center to this tag in meters

    • getCameraPose_TargetSpace

      public org.wpilib.math.geometry.Pose3d getCameraPose_TargetSpace()
      Returns camera pose in target space as a Pose3d.
      Returns:
      Camera pose in target space as a Pose3d

    • getTargetPose_CameraSpace

      public org.wpilib.math.geometry.Pose3d getTargetPose_CameraSpace()
      Returns target pose in camera space as a Pose3d.
      Returns:
      Target pose in camera space as a Pose3d

    • getTargetPose_RobotSpace

      public org.wpilib.math.geometry.Pose3d getTargetPose_RobotSpace()
      Returns target pose in robot space as a Pose3d.
      Returns:
      Target pose in robot space as a Pose3d

    • getRobotPose_TargetSpace

      public org.wpilib.math.geometry.Pose3d getRobotPose_TargetSpace()
      Returns robot pose in target space as a Pose3d.
      Returns:
      Robot pose in target space as a Pose3d

    • getRobotPose_FieldSpace

      public org.wpilib.math.geometry.Pose3d getRobotPose_FieldSpace()
      Returns megaTag1 robot pose in field space from this tag only, as a Pose3d.
      Returns:
      MegaTag1 robot pose in field space from this tag only, as a Pose3d

    • getRobotPose_FieldSpace_MT2

      public org.wpilib.math.geometry.Pose3d getRobotPose_FieldSpace_MT2()
      Returns megaTag2 robot pose in field space from this tag only, as a Pose3d.
      Returns:
      MegaTag2 robot pose in field space from this tag only, as a Pose3d