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Robot-local to field transform

RobotLocalToFieldTransform converts detection positions from robot-local coordinates to field coordinates with the latest robot pose.

Inputs​

  • detections: Dictionaries with finite three-element position_3d values.
  • robot_pose: Optional finite 4 by 4 robot-to-field transform.

A detections list can also be supplied directly without a pose update.

Outputs​

field_detections is a new list. Transformed items keep the local position in position_robot and replace position_3d with the field position. None detections produce None.

When to use​

Use this only after an operation that produces robot-local positions. GroundPlaneIntersection already returns field-relative positions.

Configuration​

This operation has no user parameters.

Limitations​

A valid robot pose must arrive before a valid position can be transformed. The latest pose is reused on later runs. Malformed positions pass through unchanged.