List of AprilTag 3d positions?

Juicestus · January 8, 2023, 5:47pm

Is there currently a list of 3d positions and rotations for the AprilTags? I know WPILib has a system of using a JSON file to store the locations. Is there a JSON file with them?
Thanks all.

GoldMonster · January 8, 2023, 5:51pm

You can either look at the pull request to add the 2023 json file to allwpilib on github, or mechanical advantage’s 2023 code has it in a map rather than as json.

Juicestus · January 8, 2023, 5:54pm

Thanks!

Map permalink is here:

github.com

Mechanical-Advantage/RobotCode2023/blob/245956d9635309737d78d7f915cfd6d1b94167a1/src/main/java/org/littletonrobotics/frc2023/FieldConstants.java#L194


      
          
          
  public static final double singleSubstationHeight = Units.inchesToMeters(18.0);
            public static final double singleSubstationLowZ = Units.inchesToMeters(27.125);
            public static final double singleSubstationCenterZ =
                singleSubstationLowZ + (singleSubstationHeight / 2.0);
            public static final double singleSubstationHighZ =
                singleSubstationLowZ + singleSubstationHeight;
          }
          
          
// AprilTag locations (do not flip for red alliance)
          public static final Map<Integer, Pose3d> aprilTags =
              Map.of(
                  1,
                  new Pose3d(
                      Units.inchesToMeters(610.77),
                      Units.inchesToMeters(42.19),
                      Units.inchesToMeters(18.22),
                      new Rotation3d(0.0, 0.0, Math.PI)),
                  2,
                  new Pose3d(
                      Units.inchesToMeters(610.77),

Joe_Ross · January 8, 2023, 6:36pm

It’s in 2023 Layout Marking Diagram, available in the field drawings package. Playing Field | FIRST

thatmattguy · January 8, 2023, 6:51pm

Note that there seems to be a typo in it, see here

Juicestus · January 8, 2023, 7:46pm

@jonahb55 Are these to the center of the AprilTags or the bottom left corner? Thanks!

jonahb55 · January 8, 2023, 7:56pm

They’re to the center of the tags. Here are the poses in AdvantageScope (yellow cones = poses).