Pose estimation methods

PoseEstimate methods

These methods return a PoseEstimate object that bundles the 2D pose with a latency-adjusted timestamp, tag metadata, and per-fiducial details. They are the recommended way to feed vision measurements into WPILib’s SwerveDrivePoseEstimator or DifferentialDrivePoseEstimator.

Always call SetRobotOrientation before reading MegaTag2 estimates. MegaTag2 requires your robot’s current yaw to constrain the pose solve.

`getBotPoseEstimate_wpiBlue`

Returns a MegaTag1 pose estimate in the WPILib Blue Alliance coordinate system.

LimelightHelpers.PoseEstimate estimate =
    LimelightHelpers.getBotPoseEstimate_wpiBlue("limelight");

if (LimelightHelpers.validPoseEstimate(estimate)) {
    swervePoseEstimator.addVisionMeasurement(
        estimate.pose,
        estimate.timestampSeconds
    );
}

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

PoseEstimate

MegaTag1 pose estimate in the WPILib Blue Alliance origin. Fields: pose (Pose2d), timestampSeconds (latency-adjusted), latency (ms), tagCount, tagSpan (m), avgTagDist (m), avgTagArea (%), rawFiducials (RawFiducial[]), isMegaTag2 (false).

`getBotPoseEstimate_wpiRed`

Returns a MegaTag1 pose estimate in the WPILib Red Alliance coordinate system.

LimelightHelpers.PoseEstimate estimate =
    LimelightHelpers.getBotPoseEstimate_wpiRed("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

PoseEstimate

MegaTag1 pose estimate in the WPILib Red Alliance origin. isMegaTag2 is false.

`getBotPoseEstimate_wpiBlue_MegaTag2`

Returns a MegaTag2 pose estimate in the WPILib Blue Alliance coordinate system. MegaTag2 uses your robot’s reported yaw to constrain the pose solve, producing lower rotational ambiguity at the cost of requiring an accurate gyro input.

// Must be called every loop before reading MegaTag2
LimelightHelpers.SetRobotOrientation("limelight",
    gyro.getYaw(), 0, 0, 0, 0, 0);

LimelightHelpers.PoseEstimate mt2 =
    LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2("limelight");

if (LimelightHelpers.validPoseEstimate(mt2)) {
    swervePoseEstimator.addVisionMeasurement(
        mt2.pose,
        mt2.timestampSeconds
    );
}

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

PoseEstimate

MegaTag2 pose estimate in the WPILib Blue Alliance origin. isMegaTag2 is true.

`getBotPoseEstimate_wpiRed_MegaTag2`

Returns a MegaTag2 pose estimate in the WPILib Red Alliance coordinate system.

LimelightHelpers.SetRobotOrientation("limelight",
    gyro.getYaw(), 0, 0, 0, 0, 0);

LimelightHelpers.PoseEstimate mt2 =
    LimelightHelpers.getBotPoseEstimate_wpiRed_MegaTag2("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

PoseEstimate

MegaTag2 pose estimate in the WPILib Red Alliance origin. isMegaTag2 is true.

3D pose methods

These methods return a Pose3d object. They are useful for 3D visualization and for computing spatial relationships between the robot, camera, and target.

`getBotPose3d`

Returns the robot’s 3D pose in the field-centric coordinate system used internally by the Limelight. This is not the WPILib standard origin.

Pose3d pose = LimelightHelpers.getBotPose3d("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose3d

Robot pose in Limelight field-centric space. Use getBotPose3d_wpiBlue for WPILib-compatible coordinates.

`getBotPose3d_wpiBlue`

(Recommended) Returns the robot’s 3D pose in the WPILib Blue Alliance coordinate system.

Pose3d pose = LimelightHelpers.getBotPose3d_wpiBlue("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose3d

Robot pose in the WPILib Blue Alliance origin. Origin is the Blue Alliance corner of the field.

`getBotPose3d_wpiRed`

(Not recommended) Returns the robot’s 3D pose in the WPILib Red Alliance coordinate system.

Pose3d pose = LimelightHelpers.getBotPose3d_wpiRed("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose3d

Robot pose in the WPILib Red Alliance origin. Prefer getBotPose3d_wpiBlue for most use cases.

`getBotPose3d_TargetSpace`

Returns the robot’s 3D pose relative to the currently tracked target’s coordinate system.

Pose3d robotRelativeToTarget = LimelightHelpers.getBotPose3d_TargetSpace("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose3d

Robot pose expressed in the target’s coordinate frame.

`getCameraPose3d_TargetSpace`

Returns the camera’s 3D pose relative to the currently tracked target’s coordinate system.

Pose3d cameraRelativeToTarget = LimelightHelpers.getCameraPose3d_TargetSpace("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose3d

Camera pose expressed in the target’s coordinate frame.

`getTargetPose3d_CameraSpace`

Returns the primary target’s 3D pose in the camera’s coordinate system.

Pose3d targetInCameraSpace = LimelightHelpers.getTargetPose3d_CameraSpace("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose3d

Target pose expressed in the camera’s coordinate frame.

`getTargetPose3d_RobotSpace`

Returns the primary target’s 3D pose in the robot’s coordinate system.

Pose3d targetInRobotSpace = LimelightHelpers.getTargetPose3d_RobotSpace("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose3d

Target pose expressed in the robot’s coordinate frame.

`getCameraPose3d_RobotSpace`

Returns the camera’s 3D pose in the robot’s coordinate system.

Pose3d cameraInRobotSpace = LimelightHelpers.getCameraPose3d_RobotSpace("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose3d

Camera pose expressed in the robot’s coordinate frame.

2D pose methods

These methods return a Pose2d derived from the raw 6-element pose array. They use x, y, and yaw only; z, roll, and pitch are discarded.

`getBotPose2d`

Returns the robot’s 2D pose in the Limelight field-centric coordinate system (not WPILib-standard).

Pose2d pose = LimelightHelpers.getBotPose2d("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose2d

Robot 2D pose in Limelight field-centric space.

`getBotPose2d_wpiBlue`

Returns the robot’s 2D pose in the WPILib Blue Alliance coordinate system.

Pose2d pose = LimelightHelpers.getBotPose2d_wpiBlue("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose2d

Robot 2D pose in the WPILib Blue Alliance origin.

`getBotPose2d_wpiRed`

Returns the robot’s 2D pose in the WPILib Red Alliance coordinate system.

Pose2d pose = LimelightHelpers.getBotPose2d_wpiRed("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

Pose2d

Robot 2D pose in the WPILib Red Alliance origin.

Raw pose array methods

These methods return a 6-element double[] in the format [x, y, z, roll, pitch, yaw] where translations are in meters and angles are in degrees. They are lower-level than the Pose3d/Pose2d variants. Use toPose3D or toPose2D to convert them.

The deprecated lowercase variants (getBotpose, getBotpose_wpiBlue, getBotpose_wpiRed) are aliases for these methods. Use the capitalized versions shown below.

`getBotPose`

double[] pose = LimelightHelpers.getBotPose("limelight");
// [x, y, z, roll, pitch, yaw]

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

double[]

6-element array [x, y, z, roll, pitch, yaw] in Limelight field-centric space.

`getBotPose_wpiBlue`

double[] pose = LimelightHelpers.getBotPose_wpiBlue("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

double[]

6-element array [x, y, z, roll, pitch, yaw] in the WPILib Blue Alliance origin.

`getBotPose_wpiRed`

double[] pose = LimelightHelpers.getBotPose_wpiRed("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

double[]

6-element array [x, y, z, roll, pitch, yaw] in the WPILib Red Alliance origin.

`getBotPose_TargetSpace`

double[] pose = LimelightHelpers.getBotPose_TargetSpace("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

double[]

6-element array representing the robot pose in the target’s coordinate frame.

`getCameraPose_TargetSpace`

double[] pose = LimelightHelpers.getCameraPose_TargetSpace("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

double[]

6-element array representing the camera pose in the target’s coordinate frame.

`getTargetPose_CameraSpace`

double[] pose = LimelightHelpers.getTargetPose_CameraSpace("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

double[]

6-element array representing the target pose in the camera’s coordinate frame.

`getTargetPose_RobotSpace`

double[] pose = LimelightHelpers.getTargetPose_RobotSpace("limelight");

limelightName

string

required

Name of the Limelight NetworkTables table.

returns

double[]

6-element array representing the target pose in the robot’s coordinate frame.

Deprecated methods

These lowercase variants are @Deprecated. Replace them with the capitalized equivalents.

Deprecated	Replacement
`getBotpose(String)`	`getBotPose(String)`
`getBotpose_wpiBlue(String)`	`getBotPose_wpiBlue(String)`
`getBotpose_wpiRed(String)`	`getBotPose_wpiRed(String)`

Data Classes

Methods

PoseEstimate methods

`getBotPoseEstimate_wpiBlue`

`getBotPoseEstimate_wpiRed`

`getBotPoseEstimate_wpiBlue_MegaTag2`

`getBotPoseEstimate_wpiRed_MegaTag2`

3D pose methods

`getBotPose3d`

`getBotPose3d_wpiBlue`

`getBotPose3d_wpiRed`

`getBotPose3d_TargetSpace`

`getCameraPose3d_TargetSpace`

`getTargetPose3d_CameraSpace`

`getTargetPose3d_RobotSpace`

`getCameraPose3d_RobotSpace`

2D pose methods

`getBotPose2d`

`getBotPose2d_wpiBlue`

`getBotPose2d_wpiRed`

Raw pose array methods

`getBotPose`

`getBotPose_wpiBlue`

`getBotPose_wpiRed`

`getBotPose_TargetSpace`

`getCameraPose_TargetSpace`

`getTargetPose_CameraSpace`

`getTargetPose_RobotSpace`

Deprecated methods

Build docs developers (and LLMs) love

Data Classes

Methods

​PoseEstimate methods

​getBotPoseEstimate_wpiBlue

​getBotPoseEstimate_wpiRed

​getBotPoseEstimate_wpiBlue_MegaTag2

​getBotPoseEstimate_wpiRed_MegaTag2

​3D pose methods

​getBotPose3d

​getBotPose3d_wpiBlue

​getBotPose3d_wpiRed

​getBotPose3d_TargetSpace

​getCameraPose3d_TargetSpace

​getTargetPose3d_CameraSpace

​getTargetPose3d_RobotSpace

​getCameraPose3d_RobotSpace

​2D pose methods

​getBotPose2d

​getBotPose2d_wpiBlue

​getBotPose2d_wpiRed

​Raw pose array methods

​getBotPose

​getBotPose_wpiBlue

​getBotPose_wpiRed

​getBotPose_TargetSpace

​getCameraPose_TargetSpace

​getTargetPose_CameraSpace

​getTargetPose_RobotSpace

​Deprecated methods

Build docs developers (and LLMs) love

PoseEstimate methods

`getBotPoseEstimate_wpiBlue`

`getBotPoseEstimate_wpiRed`

`getBotPoseEstimate_wpiBlue_MegaTag2`

`getBotPoseEstimate_wpiRed_MegaTag2`

3D pose methods

`getBotPose3d`

`getBotPose3d_wpiBlue`

`getBotPose3d_wpiRed`

`getBotPose3d_TargetSpace`

`getCameraPose3d_TargetSpace`

`getTargetPose3d_CameraSpace`

`getTargetPose3d_RobotSpace`

`getCameraPose3d_RobotSpace`

2D pose methods

`getBotPose2d`

`getBotPose2d_wpiBlue`

`getBotPose2d_wpiRed`

Raw pose array methods

`getBotPose`

`getBotPose_wpiBlue`

`getBotPose_wpiRed`

`getBotPose_TargetSpace`

`getCameraPose_TargetSpace`

`getTargetPose_CameraSpace`

`getTargetPose_RobotSpace`

Deprecated methods