Add section on obtaining vision measurements for pose estimation #3137
+306
−0
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Adds comprehensive "Obtaining Vision Measurements" section explaining how to get robot pose estimates from vision systems like PhotonVision and Limelight for use with AddVisionMeasurement(). Fixes wpilibsuite#1413
sciencewhiz
reviewed
Oct 13, 2025
| .. important:: When using vision measurements, it's critical to: | ||
|
|
||
| - Use the **timestamp** from when the image was captured, not when it was processed | ||
| - Scale the **standard deviations** based on factors like distance from tags, number of tags seen, and tag ambiguity |
There was a problem hiding this comment.
This feels like it should be in the tuning pose estimators below.
|
Thinking about this more, I think most of this probably belongs in the vision processing docs, rather then here. |
Per review feedback, moved the detailed vision measurement information from the pose estimator docs to a new article in the vision processing section. Changes: - Created new apriltag-pose-estimation.rst in vision-processing/apriltag/ - Comprehensive guide covering PhotonVision, Limelight, and custom solutions - Detailed sections on timestamps, standard deviations, and rejecting bad measurements - Code examples in Java, C++, and Python for both libraries - Updated apriltag/index.rst to include new article - Replaced detailed section in state-space-pose-estimators.rst with a seealso link The pose estimator docs now focus on the API usage, while the vision processing docs explain how to obtain the measurements. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <[email protected]>
Changed links in "See Also" section to anonymous hyperlinks (double underscores) to avoid conflicts with similar link text used earlier in the document. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <[email protected]>
…d-layout file Removed references to apriltag-field-layout.rst which doesn't exist in this PR: - Removed from toctree in index.rst - Removed from "See Also" section in apriltag-pose-estimation.rst The apriltag-field-layout article is being created in PR wpilibsuite#3138. Once that PR merges, the references can be added back. This fixes the build errors: - "toctree contains reference to nonexisting document" - "unknown document: 'apriltag-field-layout'" 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Summary
Creates a comprehensive guide for using AprilTags for robot pose estimation, addressing the lack of documentation on obtaining vision measurements for pose estimators.
Changes
New file:
apriltag-pose-estimation.rstin vision processing sectionModified:
state-space-pose-estimators.rstModified:
apriltag/index.rstOrganization
Per review feedback, vision measurement content now lives in vision processing docs (where teams look for vision guidance) rather than pose estimator docs (which focus on the API).
Fixes #1413