Package edu.wpi.first.apriltag

Class AprilTagPoseEstimate

java.lang.Object

edu.wpi.first.apriltag.AprilTagPoseEstimate

public class AprilTagPoseEstimate
extends Object

A pair of AprilTag pose estimates.

Field Summary

Fields

Modifier and Type	Field	Description
final double	error1	Object-space error of pose 1.
final double	error2	Object-space error of pose 2.
final Transform3d	pose1	Pose 1.
final Transform3d	pose2	Pose 2.

Constructor Summary

Constructors

Constructor	Description
AprilTagPoseEstimate(Transform3d pose1, Transform3d pose2, double error1, double error2)	Constructs a pose estimate.

Method Summary

Modifier and Type	Method	Description
double	getAmbiguity()	Get the ratio of pose reprojection errors, called ambiguity.

Methods inherited from class java.lang.Object

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

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.