Difference between SwerveDrivePoseEstimator and 2024 CTRE generated drive code odometry

Is there are significant performance difference in position estimation between CTRE’s generated swerve code odometry when using .addVisionMeasurement vs. WPILibs .addVisionMeasurement. Is one better than the other? Would it make a difference to pass a position made by the SwerveDrivePoseEstimator after using .addVisionMeasurement into CTRE’s addVisionMeasurement method or vice versa?

CTRE’s swerve library uses the WPILib SwervePoseEstimator, so there is no performance difference for that method.

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You’ll find if you read the Swerve class that CommandSwerveDrivetrain extends they are using plenty of WPILIB classes in their Swerve implementation. As gdefender said, the pose estimator they used is the WPILIB one.

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