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Minor cleanups to MultiPhotonPoseEstimator #138

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Merged
kcooney merged 1 commit into from
Feb 12, 2026
Merged

Minor cleanups to MultiPhotonPoseEstimator #138

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31 changes: 19 additions & 12 deletions vision/src/main/java/com/team2813/lib2813/vision/MultiPhotonPoseEstimator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -67,23 +67,13 @@ public class MultiPhotonPoseEstimator implements AutoCloseable {
private PhotonPoseEstimator.PoseStrategy poseEstimatorStrategy;

/** A builder for {@code MultiPhotonPoseEstimator}. */
public static class Builder {
public static final class Builder {
private final Map<String, CameraConfig> cameraConfigs = new HashMap<>();
private final AprilTagFieldLayout aprilTagFieldLayout;
private final NetworkTableInstance ntInstance;
private final PhotonPoseEstimator.PoseStrategy poseEstimatorStrategy;

/**
* {@code MultiPhotonPoseEstimator} builder constructor.
*
* @param ntInstance Network table instance used to log the pose of AprilTag detections as well
* as pose estimates.
* @param aprilTagFieldLayout WPILib field description (dimensions) including AprilTag 3D
* locations.
* @param poseEstimatorStrategy Posing strategy (for instance, multi tag PnP, closest to camera
* tag, etc.)
*/
public Builder(
Builder(
NetworkTableInstance ntInstance,
AprilTagFieldLayout aprilTagFieldLayout,
PhotonPoseEstimator.PoseStrategy poseEstimatorStrategy) {
Expand Down Expand Up @@ -142,6 +132,23 @@ public MultiPhotonPoseEstimator build() {
}
}

/**
* Creates a builder for building {@link MultiPhotonPoseEstimator} instances.
*
* @param ntInstance Network table instance used to log the pose of AprilTag detections as well as
* pose estimates.
* @param aprilTagFieldLayout WPILib field description (dimensions) including AprilTag 3D
* locations.
* @param poseEstimatorStrategy Posing strategy (for instance, multi tag PnP, closest to camera
* tag, etc.)
*/
public static Builder builder(
NetworkTableInstance ntInstance,
AprilTagFieldLayout aprilTagFieldLayout,
PhotonPoseEstimator.PoseStrategy poseEstimatorStrategy) {
return new Builder(ntInstance, aprilTagFieldLayout, poseEstimatorStrategy);
}

/**
* Adds all cameras to a simulated vision system.
*
Expand Down