Package frc.robot.systems.vision

Class VisionConstants

java.lang.Object
frc.robot.systems.vision.VisionConstants
public class VisionConstants extends Object

Map of camera positions relative to the robot's center.

- **Translation3d (X, Y, Z)**: - X: Forward (+) / Backward (-) relative to the center of the bot - Y: Left (+) / Right (-) relative to the center of the bot - Z: Up (+) / Down (-) relative to the ground, most likely wont be inside the ground

- **Rotation3d (Roll, Pitch, Yaw)**: - Roll (X-axis rotation): Side tilt (it will prolly be 0 unless we do some crazy stuff) - Pitch (Y-axis rotation): Camera looking up/down (Negative = up, positive = down) - Yaw (Z-axis rotation): Camera turning left/right. Imagine a birds eye view of the bot, 0deg is north, 90 is west, -90 is east, and 180 is south

  • Field Details

    • kMaxTrustDistanceMSingletag

      public static final double kMaxTrustDistanceMSingletag
      See Also:

    • kLeftCamName

      public static final String kLeftCamName
      See Also:

    • kLeftCamOrientation

      public static final VisionConstants.Orientation kLeftCamOrientation

    • kLeftCamTransform

      public static final edu.wpi.first.math.geometry.Transform3d kLeftCamTransform

    • kRightCamName

      public static final String kRightCamName
      See Also:

    • kRightCamOrientation

      public static final VisionConstants.Orientation kRightCamOrientation

    • kRightCamTransform

      public static final edu.wpi.first.math.geometry.Transform3d kRightCamTransform

    • KUseSingleTagTransform

      public static final boolean KUseSingleTagTransform
      See Also:

    • kSingleStdDevs

      public static final edu.wpi.first.math.Vector<edu.wpi.first.math.numbers.N3> kSingleStdDevs

    • kMultiStdDevs

      public static final edu.wpi.first.math.Vector<edu.wpi.first.math.numbers.N3> kMultiStdDevs

    • kAmbiguityThreshold

      public static final double kAmbiguityThreshold

  • Constructor Details

    • VisionConstants

      public VisionConstants()