We have two limelights mounted on our robot. Currently, we only use the positional data returned from the limelight with the highest accuracy score, which is calculated per limelight by dividing the number of targets in frame by the average distance. Is there a built in way to fuse the data from each limelight, or do we have to do it ourselves?
Why not just use the readings from each LL? They are independent measurements. Assuming you are using one of the WPILib PoseEstimator classes, just feed the reading from each LL into it. Be sure to use the timestamp from the same LL when doing so.
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I’ll keep it real, I had no idea that was a thing. I was using swervedriveodometry and manually updating it with vision when we could see tags. Thanks.