We are attempting to calibrate our Limelight 3 using the built-in ChArUco Camera Calibration. Every time, we get a large reprojection error and a very skewed field of view. The last attempt, we took around 75 pictures that matched closely with the example pictures in the Limelight Documentation. We got a reprojection error of around 28%, and while the total field of view was consistent with the non-calibrated Limelight FOV, it was skewed almost completely to one side. (40 degrees left, 20 degrees right). Is this an expected value, and have other teams run into the same issue? Additionally, the calibration button took around 10 mins to calculate.
Well… Our software team is now also running into this problem. We tried a bunch but we also ended up on a reprojection error of about 50.
Please help us Chief 
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We did some more tests and looks like our apriltags were not 100% flat on the wall and were slightly smaller than spec. (1mm off).
We’re now printing new apriltags and place them as flat as possible.
Will send update soon. Hopefully, this works…
Still no succes…
Can someone that has apriltag detection working for them upload the calibration file for the LL3? We’re currently guessing that it has something to do with our LL3 calibration.
UPDATE
@Gabriel2 We switched to PV today and their camera calibration worked for us. You might want to do the same.
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Do you mean that you are switching away from using limelight? Or that you are calibrating using PV and using that calibration with normal limelight functionality?
We have switched completely to PV. We have had a full day of testing it out and results are great!
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I trust you are keeping up with this thread and post Introducing Limelight 3 - #356 by Hjelstrom
Ten minutes to calibrate 75 pictures seems reasonable. My laptop approaches that long of a time to do that job.
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