DetectPoseComponent

requires the apriltag feature

Converts a Detection into a PoseEstimation.

Inputs

Primary input (Detection): a detected tag to process.

Outputs

• Default channel (single, PoseEstimation): the estimated pose, along with its error
• pose (single, Pose): the estimated pose
• error (single, f64): the estimation’s error

Configuration

Appears in configuration files with type = "detect-pose".

Additional fields:

• spec ("fixed" | "infer"): the specification of detection parameters
• center (2-element float array): the coordinates of the center of the image
• fov (2-element float array): the FOV of the camera, in pixels
• tag_size (float | "FRC_INCHES" | "FRC_CM" | "FRC_METERS"): the size of the tag, in whatever units the measurements should be in

If spec = "fixed", all fields are required. If spec = "infer", the center and fov are determined by camera parameters, and only the tag_size is accepted.