Full AprilTag pose?

[78454B]

OK, so I think (don’t quote me on this) that the focal length of the sensor is 212.3 pixels. I don’t think there’s any radial distortion.

[jpearman]

could be for your sensor.

We have not released the next V5 vexos yet, not sure when that will be, probably end of summer, it will have the apriltag pose code incorporated.

There are two versions of the aivision sensor in the field, they have different camera modules due to the original one going end of life, so two different possible focal lengths.. My defaults are

#define DEFAULT_CAMERA_FLENGTH_0  222
#define DEFAULT_CAMERA_FLENGTH_4  190

The VEXcode aivision class will select the correct one but it can also be adjusted by code if necessary.

[jpearman]

@jenright

1 What is the current frame rate from the AIVS?
2 Is the plan to put the pose estimation on the AIVS? Or build that into the Brain?
3 The API call to the AIVS is takeSnapshot(). Does that actually trigger an exposure, or does that just return the most recent result from the data streaming from the AIVS?
4 If timestamps are unlikely, is it possible to trigger callbacks from incoming AIVS data?

1. Frame rate of the camera is 30fps, the processing blocks will be slower, some improvements are coming that will increase apriltag processing to 10-15 fps from the currennt 7-9 fps. It’s very image dependant, noise or complex images will slow it down
2. pose estimation will be in the brain, part of vexos and the VEXcode SDK.
3. takeSnapshot is a filter function, it returns the latest results, it does not trigger an exposure.
4. not really at this stage, there’s a new parameter to takeSnapshot that will limit returned objects to new ones only, that is, it won’t keep returning the same objects if you don’t want it to.

[78454B]

@jpearman

There are two versions of the aivision sensor in the field

Is there a way to tell the difference? Which focal length is which?