Hi,
When setting up new limelight on new robot for apriltag tracking (3d) - what is your process? best practices?
Do you always do ChArUco calibration?
How to perfectly set the position offsets?
Really need some help with improving our basic tracking accuracy
Sure, why not? It’s recommended especially if you did your own camera upgrade. You do have to make a flat calibration board, though. There are posts and documentation about using commercial boards, computer screens, and spray adhesive attached paper to some flat stock.
If you want perfection you could make the camera the origin of your reference frame and have a perfect (0, 0, 0). That seems unnecessarily odd from typical usage and doesn’t work if you have more than one camera. But then the wheel base isn’t at a perfect (0, 0, 0).
You can get dimensions off of CAD drawings but actual construction might vary. Careful measurements usually suffice.
Angle comes from CAD drawing or an inclinometer. We have a shop inclinometer and almost every student has a smart phone with that app that has always seemed pretty accurate. I’m sure you can make an exception to the rule that phones are stored in the rack during meeting times (we do to take measurements or research something special).