Package org.photonvision.estimation

Class CameraTargetRelation

java.lang.Object

org.photonvision.estimation.CameraTargetRelation

public class CameraTargetRelation
extends Object

Holds various helper geometries describing the relation between camera and target.

Field Summary

Fields

Modifier and Type	Field	Description
final Pose3d	camPose
final Transform3d	camToTarg
final Rotation2d	camToTargAngle	Angle from the camera's relative x-axis
final double	camToTargDist
final double	camToTargDistXY
final Rotation2d	camToTargPitch
final Rotation2d	camToTargYaw
final Transform3d	targToCam
final Rotation2d	targToCamAngle	Angle from the target's relative x-axis
final Rotation2d	targToCamPitch
final Rotation2d	targToCamYaw

Constructor Summary

Constructors

Constructor	Description
CameraTargetRelation(Pose3d cameraPose, Pose3d targetPose)

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

camPose

public final Pose3d camPose

camToTarg

public final Transform3d camToTarg

camToTargDist

public final double camToTargDist

camToTargDistXY

public final double camToTargDistXY

camToTargYaw

public final Rotation2d camToTargYaw

camToTargPitch

public final Rotation2d camToTargPitch

camToTargAngle

public final Rotation2d camToTargAngle

Angle from the camera's relative x-axis

targToCam

public final Transform3d targToCam

targToCamYaw

public final Rotation2d targToCamYaw

targToCamPitch

public final Rotation2d targToCamPitch

targToCamAngle

public final Rotation2d targToCamAngle

Angle from the target's relative x-axis

Constructor Details

CameraTargetRelation

public CameraTargetRelation(Pose3d cameraPose,
 Pose3d targetPose)