Package edu.wpi.first.apriltag
Class AprilTagPoseEstimate
java.lang.Object
edu.wpi.first.apriltag.AprilTagPoseEstimate
A pair of AprilTag pose estimates.
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Field Summary
FieldsModifier and TypeFieldDescriptionfinal double
Object-space error of pose 1.final double
Object-space error of pose 2.final Transform3d
Pose 1.final Transform3d
Pose 2. -
Constructor Summary
ConstructorsConstructorDescriptionAprilTagPoseEstimate
(Transform3d pose1, Transform3d pose2, double error1, double error2) Constructs a pose estimate. -
Method Summary
Modifier and TypeMethodDescriptiondouble
Get the ratio of pose reprojection errors, called ambiguity.
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Field Details
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pose1
Pose 1. -
pose2
Pose 2. -
error1
Object-space error of pose 1. -
error2
Object-space error of pose 2.
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Constructor Details
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AprilTagPoseEstimate
Constructs a pose estimate.- Parameters:
pose1
- first posepose2
- second poseerror1
- error of first poseerror2
- error of second pose
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Method Details
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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.
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