Package org.photonvision

Enum Class PhotonPoseEstimator.PoseStrategy

java.lang.Object

java.lang.Enum<PhotonPoseEstimator.PoseStrategy>

org.photonvision.PhotonPoseEstimator.PoseStrategy

All Implemented Interfaces:

Serializable, Comparable<PhotonPoseEstimator.PoseStrategy>, Constable

Enclosing class:

PhotonPoseEstimator

public static enum PhotonPoseEstimator.PoseStrategy
extends Enum<PhotonPoseEstimator.PoseStrategy>

Position estimation strategies that can be used by the PhotonPoseEstimator class.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
AVERAGE_BEST_TARGETS	Return the average of the best target poses using ambiguity as weight.
CLOSEST_TO_CAMERA_HEIGHT	Choose the Pose which is closest to the camera height.
CLOSEST_TO_LAST_POSE	Choose the Pose which is closest to the last pose calculated
CLOSEST_TO_REFERENCE_POSE	Choose the Pose which is closest to a set Reference position.
CONSTRAINED_SOLVEPNP	Solve a constrained version of the Perspective-n-Point problem with the robot's drivebase flat on the floor.
LOWEST_AMBIGUITY	Choose the Pose with the lowest ambiguity.
MULTI_TAG_PNP_ON_COPROCESSOR	Use all visible tags to compute a single pose estimate on coprocessor.
MULTI_TAG_PNP_ON_RIO	Use all visible tags to compute a single pose estimate.
PNP_DISTANCE_TRIG_SOLVE	Use distance data from best visible tag to compute a Pose.

Method Summary

Modifier and Type	Method	Description
static PhotonPoseEstimator.PoseStrategy	valueOf(String name)	Returns the enum constant of this class with the specified name.
static PhotonPoseEstimator.PoseStrategy[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

LOWEST_AMBIGUITY

public static final PhotonPoseEstimator.PoseStrategy LOWEST_AMBIGUITY

Choose the Pose with the lowest ambiguity.

CLOSEST_TO_CAMERA_HEIGHT

public static final PhotonPoseEstimator.PoseStrategy CLOSEST_TO_CAMERA_HEIGHT

Choose the Pose which is closest to the camera height.

CLOSEST_TO_REFERENCE_POSE

public static final PhotonPoseEstimator.PoseStrategy CLOSEST_TO_REFERENCE_POSE

Choose the Pose which is closest to a set Reference position.

CLOSEST_TO_LAST_POSE

public static final PhotonPoseEstimator.PoseStrategy CLOSEST_TO_LAST_POSE

Choose the Pose which is closest to the last pose calculated

AVERAGE_BEST_TARGETS

public static final PhotonPoseEstimator.PoseStrategy AVERAGE_BEST_TARGETS

Return the average of the best target poses using ambiguity as weight.

MULTI_TAG_PNP_ON_COPROCESSOR

public static final PhotonPoseEstimator.PoseStrategy MULTI_TAG_PNP_ON_COPROCESSOR

Use all visible tags to compute a single pose estimate on coprocessor. This option needs to be enabled on the PhotonVision web UI as well.

MULTI_TAG_PNP_ON_RIO

public static final PhotonPoseEstimator.PoseStrategy MULTI_TAG_PNP_ON_RIO

Use all visible tags to compute a single pose estimate. This runs on the RoboRIO, and can take a lot of time.

PNP_DISTANCE_TRIG_SOLVE

public static final PhotonPoseEstimator.PoseStrategy PNP_DISTANCE_TRIG_SOLVE

Use distance data from best visible tag to compute a Pose. This runs on the RoboRIO in order to access the robot's yaw heading, and MUST have addHeadingData called every frame so heading data is up-to-date.

Yields a Pose2d in estimatedRobotPose (0 for z, roll, pitch)

https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2025-build-thread/477314/98

CONSTRAINED_SOLVEPNP

public static final PhotonPoseEstimator.PoseStrategy CONSTRAINED_SOLVEPNP

Solve a constrained version of the Perspective-n-Point problem with the robot's drivebase flat on the floor. This computation takes place on the RoboRIO, and typically takes not more than 2ms. See PhotonPoseEstimator.ConstrainedSolvepnpParams and ConstrainedSolvepnpJni for details and tuning handles this strategy exposes. This strategy needs addHeadingData called every frame so heading data is up-to-date. If Multi-Tag PNP is enabled on the coprocessor, it will be used to provide an initial seed to the optimization algorithm -- otherwise, the multi-tag fallback strategy will be used as the seed.

Method Details

values

public static PhotonPoseEstimator.PoseStrategy[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static PhotonPoseEstimator.PoseStrategy valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null