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Published 20 hours ago • verified publisher icon PhotonVision

Add PhotonPoseEstimator to photonlibpy

Open EWall25 opened this issue 1 year ago • 1 comments

Photonlibpy is currently missing the PhotonPoseEstimator class, so only on-coprocessor MultiTag may be used. This issue tracks the implementation of six pose estimation strategies from PhotonPoseEstimator:

  • [x] LOWEST_AMBIGUITY
  • [ ] CLOSEST_TO_CAMERA_HEIGHT
  • [ ] CLOSEST_TO_REFERENCE_POSE
  • [ ] CLOSEST_TO_LAST_POSE
  • [ ] AVERAGE_BEST_TARGETS
  • [x] MULTI_TAG_PNP_ON_COPROCESSOR

Adding MULTI_TAG_PNP_ON_RIO is possible, but the complexity of doing so is exponentially greater than that of implementing the other strategies.

EWall25 avatar Jan 15 '24 16:01 EWall25