gregadeaux / apriltagworkbench

AprilTagWorkbench

(VERY WIP)

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

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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

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Related

• AprilTagLayoutId

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