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AprilTagWorkbench

(VERY WIP)

[wpilib-2023.1.1] [PhotonVision/photonvision#742]

Current progress:

  • Simulating a camera (intrinsics, distortion, pixel noise, framerate, latency)
  • Simulating photon target info, best / alternate estimated poses and ambiguity from single-tag solvePnP:
2022-11-20.04-27-33_H.264-camerasim.mp4
  • Simulating multiple cameras
2022-11-21.22-04-15_H.264-multiplecamerasim.mp4
  • Pose estimation from solvePnP(SQ_PNP) with multiple visible tags(from a single camera):
2022-12-03.18-32-27_H.264-multitagsolvepnp.mp4
  • Pose estimation from relative 3d translations using SVD (possibly multiple cameras)
2022-12-07.23-27-17_H.264-initialsvdpnp.mp4
  • Pose estimation from trigonometry(with known tag and camera heights) and the above approach:
2022-12-21.02-48-39_H.264.mp4
  • Simulating camera video streams
2023-01-03.05-42-22_H.264_streamsim_processed.mp4

Related

  • AprilTagLayoutId

    • Estimates a layout of AprilTags by periodically recording the visible tags and their transformations between eachother.