Recently, we have been experimenting with 3d pose estimation on limelight. However, the field relative limelight pose doesn’t seem to work properly. The x-value of the limelight (using apriltag id:5) seemingly transitions between +x and -x values while not changing the direction of motion. We have also tried to use mega tags to increase accuracy and want to add a limit to the pose estimation updates to only activate when two or more targets are seen but we couldn’t find where to access the number of targets in limelight. Our last resort is to make the pose-estimator apriltag-relative rather than field-relative, would there be anything to do?
You can get the number of tags detected with LimelightHelpers. The I think the Fiducial_Results in the Results object will hold arrays of tx, ty, ta (etc.) values for each tag detected. The number of values in the arrays probably corresponds to the number of april tags detected.
one thing that might cause this problem is rapid flickering of the april tags, so is your view of them in the limelight viewer consistent? sometimes tuning the configs can help with that. another thing is to make sure that your camera is securely fastened, as even small jitters can cause big problems with pose estimations.
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