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Use camera to position AprilTags to the right location. #1308

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Schroedes opened this issue Apr 9, 2024 · 1 comment
Open

Use camera to position AprilTags to the right location. #1308

Schroedes opened this issue Apr 9, 2024 · 1 comment
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enhancement New feature or request

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@Schroedes
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Is your feature request related to a problem? Please describe.
Making sure you position the AprilTags around a field is very difficult to get exact, by building a feature to assist in placing these tags, it would alleviate most doubt when tracking down pose estimation discrepancies.
Describe the solution you'd like

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A feature built into PhotonVision where you place a camera at a known pose, and upload a mapping of where the AprilTags are supposed to be placed. Based on this predetermined camera pose we can determine where in the camera's frame the tag should be positioned(Potentially a green box displayed on where the tag should be placed and then indicators when the translation and rotation are correct).
Describe alternatives you've considered
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Additional context
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@Schroedes Schroedes added the enhancement New feature or request label Apr 9, 2024
@Roman-Tech-Plus
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I feel like relying on robot placement is somewhat of a recipe for disaster. Potentially, a more SLAM esque approach like 971 would be preferable as it simply bases the poses of all other tags off a single known good tag. That said, after the field tolerance issues at early seosn events, GDC seems to have gotten thing more together by week 5. Both us and 971 found no significant placement abnormalities with our field solvers. That said, this could definitely be a useful feature for practice fields or field tolerance edge cases.

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