Class AprilTagPoseEstimate

java.lang.Object
edu.wpi.first.apriltag.AprilTagPoseEstimate

public class AprilTagPoseEstimate extends Object
A pair of AprilTag pose estimates.
  • Field Details

    • pose1

      public final Transform3d pose1
      Pose 1.
    • pose2

      public final Transform3d pose2
      Pose 2.
    • error1

      public final double error1
      Object-space error of pose 1.
    • error2

      public final double error2
      Object-space error of pose 2.
  • Constructor Details

    • AprilTagPoseEstimate

      public AprilTagPoseEstimate(Transform3d pose1, Transform3d pose2, double error1, double error2)
      Constructs a pose estimate.
      Parameters:
      pose1 - first pose
      pose2 - second pose
      error1 - error of first pose
      error2 - error of second pose
  • Method Details

    • getAmbiguity

      public double getAmbiguity()
      Get the ratio of pose reprojection errors, called ambiguity. Numbers above 0.2 are likely to be ambiguous.
      Returns:
      The ratio of pose reprojection errors.