Package edu.wpi.first.math

Class ComputerVisionUtil

java.lang.Object

edu.wpi.first.math.ComputerVisionUtil

public final class ComputerVisionUtil
extends Object

Method Summary

Modifier and Type	Method	Description
static Pose3d	objectToRobotPose(Pose3d objectInField, Transform3d cameraToObject, Transform3d robotToCamera)	Returns the robot's pose in the field coordinate system given an object's field-relative pose, the transformation from the camera's pose to the object's pose (obtained via computer vision), and the transformation from the robot's pose to the camera's pose.

Methods inherited from class java.lang.Object

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

Method Details

objectToRobotPose

public static Pose3d objectToRobotPose(Pose3d objectInField, Transform3d cameraToObject, Transform3d robotToCamera)

Returns the robot's pose in the field coordinate system given an object's field-relative pose, the transformation from the camera's pose to the object's pose (obtained via computer vision), and the transformation from the robot's pose to the camera's pose.

The object could be a target or a fiducial marker.

Parameters:

objectInField - An object's field-relative pose.

cameraToObject - The transformation from the camera's pose to the object's pose. This comes from computer vision.

robotToCamera - The transformation from the robot's pose to the camera's pose. This can either be a constant for a rigidly mounted camera, or variable if the camera is mounted to a turret. If the camera was mounted 3 inches in front of the "origin" (usually physical center) of the robot, this would be new Transform3d(Units.inchesToMeters(3.0), 0.0, 0.0, new Rotation3d()).

Returns:

The robot's field-relative pose.