photonlibpy.estimation.visionEstimation

VisionEstimation

estimateCamPosePNP(cameraMatrix, distCoeffs, visTags, layout, tagModel) staticmethod

Performs solvePNP using 3d-2d point correspondences of visible AprilTags to estimate the field-to-camera transformation. If only one tag is visible, the result may have an alternate solution.

Note: The returned transformation is from the field origin to the camera pose!

With only one tag: {@link OpenCVHelp#solvePNP_SQUARE}

With multiple tags: {@link OpenCVHelp#solvePNP_SQPNP}

Parameters:

Name	Type	Description	Default
cameraMatrix	ndarray	The camera intrinsics matrix in standard opencv form	required
distCoeffs	ndarray	The camera distortion matrix in standard opencv form	required
visTags	list[PhotonTrackedTarget]	The visible tags reported by PV. Non-tag targets are automatically excluded.	required
tagLayout		The known tag layout on the field	required

Returns:

Type	Description
PnpResult | None	The transformation that maps the field origin to the camera pose. Ensure the {@link PnpResult} are present before utilizing them.

getVisibleLayoutTags(visTags, layout) staticmethod

Get the visible :class:.AprilTags which are in the tag layout using the visible tag IDs.