Add section on obtaining vision measurements for pose estimation #3137
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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: | ||
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| - 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 |
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This feels like it should be in the tuning pose estimators below.
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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]>
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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