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[photonlib] Remove deprecated pose estimator methods (#2431)

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We added new API methods in 2026, and deprecated our past methods. This PR removes the deprecated methods.
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Sam Freund
2026-04-13 12:04:58 -05:00
committed by GitHub
parent 68fc1e7129
commit e970446c4c
6 changed files with 2 additions and 2330 deletions
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docs/source/docs/apriltag-pipelines/multitag.md
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@@ -23,7 +23,7 @@ Ensure that your camera is calibrated and 3D mode is enabled. Navigate to the Ou
By default, enabling multi-target will disable calculating camera-to-target transforms for each observed AprilTag target to increase performance; the X/Y/angle numbers shown in the target table of the UI are instead calculated using the tag's expected location (per the field layout JSON) and the field-to-camera transform calculated using MultiTag. If you additionally want the individual camera-to-target transform calculated using SolvePNP for each target, enable "Always Do Single-Target Estimation".
:::
This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()`/`multitagResult` (Java/C++/Python).
This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` and calling `estimateCoprocMultiTagPose` (with an optional fallback like `estimateLowestAmbiguityPose`) to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()`/`multitagResult` (Java/C++/Python).
```{eval-rst}
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