I noticed that the Limelight docs don’t have an updated FMAP file for Apriltag detection, so I made it myself.
NOTE: a lot of these numbers can be rounded. For some reason, the map builder doesn’t let me put a lot of numbers exactly
(edited the april tag version and size)
{"fiducials":[
{"transform":
[-0.4999999999999998,-0.8660254037844388,9.211731732618967e-33,6.78,0.8660254037844388,-0.4999999999999998,-1.232595164407831e-32,-3.86,1.5280453115899866e-32,1.8146178712561166e-33,1,1.36,0,0,0,1],
"size":165.1,
"id":1,
"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":
[-0.4999999999999998,-0.8660254037844388,0,7.89,0.8660254037844388,-0.4999999999999998,0,-3.22,0,0,1,1.36,0,0,0,1],
"size":165.1,
"id":2,
"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[-1,-1.2246467991473532e-16,0,8.28,1.2246467991473532e-16,-1,0,0.880000000003,0,0,1,1.45,0,0,0,1],
"size":165.1,
"id":3,"family":"apriltag3_36h11_classic",
"unique":1},
{"transform":[-1,-1.2246467991473532e-16,0,8.28,1.2246467991473532e-16,-1,0,1.44,0,0,1,1.45,0,0,0,1],
"size":165.1,
"id":4,"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[-4.440892098500626e-16,1,0,6.4,-1,-4.440892098500626e-16,0,4.1,0,0,1,1.35,0,0,0,1],
"size":165.1,
"id":5,"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[-4.440892098500626e-16,1,0,-6.45,-1,-4.440892098500626e-16,0,4.1,0,0,1,1.36,0,0,0,1],
"size":165.1,
"id":6,"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[1,0,0,-8.33,0,1,0,1.44,0,0,1,1.45,0,0,0,1],
"size":165.1,
"id":7,"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[1,0,0,-8.33,0,1,0,0.88,0,0,1,1.45,0,0,0,1],
"size":165.1
"id":8,"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[0.5000000000000001,-0.8660254037844386,0,-7.94,0.8660254037844386,0.5000000000000001,0,-3.22,0,0,1,1.36,0,0,0,1],
"size":165.1,
"id":9,
"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[0.5000000000000001,-0.8660254037844386,0,-6.83,0.8660254037844386,0.5000000000000001,0,-3.86,0,0,1,1.36,0,0,0,1],
"size":165.1,
"id":10,
"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[0.5000000000000001,0.8660254037844386,0,3.6,-0.8660254037844386,0.5000000000000001,0,-0.39,0,0,1,1.32,0,0,0,1],
"size":165.1,
"id":11,
"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[0.5000000000000001,-0.8660254037844386,0,3.6,0.8660254037844386,0.5000000000000001,0,0.39,0,0,1,1.32,0,0,0,1],
"size":165.1,
"id":12,
"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[-1,-1.2246467991473532e-16,0,2.92,1.2246467991473532e-16,-1,0,0,0,0,1,1.32,0,0,0,1],
"size":165.1,
"id":13,
"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[1,0,0,-2.92,0,1,0,0,0,0,1,1.32,0,0,0,1],
"size":165.1,
"id":14,
"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[-0.4999999999999998,-0.8660254037844388,0,-3.65,0.8660254037844388,-0.4999999999999998,0,0.39,0,0,1,1.32,0,0,0,1],
"size":165.1,
"id":15,
"family":"apriltag3_36h11_classic",
"unique":1
},
{"transform":[-0.5000000000000009,0.866025403784438,0,-3.65,-0.866025403784438,-0.5000000000000009,0,-0.39,0,0,1,1.32,0,0,0,1],
"size":165.1,
"id":16,
"family":"apriltag3_36h11_classic",
"unique":1
}]
}
In order to use an FMAP, look into your Limelight OS at Advanced-> Full 3D targeting must be set to Yes → Field Space Localization Setup → Field Map File and then upload your field map file. You should just be able to paste the earlier code into an already existing fmap file and then be able to upload back into the map builder to make sure it works. It should look like this:
