AprilTagPoseEstimate.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <wpi/SymbolExports.h>
 
#include "frc/geometry/Transform3d.h"
 
namespace frc {
 
/** A pair of AprilTag pose estimates. */
struct WPILIB_DLLEXPORT AprilTagPoseEstimate {
  /** Pose 1. */
  Transform3d pose1;
 
  /** Pose 2. */
  Transform3d pose2;
 
  /** Object-space error of pose 1. */
  double error1;
 
  /** Object-space error of pose 2. */
  double error2;
 
  /**
   * Gets the ratio of pose reprojection errors, called ambiguity. Numbers
   * above 0.2 are likely to be ambiguous.
   *
   * @return The ratio of pose reprojection errors.
   */
  double GetAmbiguity() const;
};
 
}  // namespace frc