Since there seems to be no recent thread on this topic, I’d like to ask those who used the Limelight SolvePnP function to share their experiences, including accuracy, effects of the lowered framerate, and difficulty of setup.
Overall, I’d also like to hear whether you think Limelight SolvePnP is a viable way to integrate vision into autonomous pose estimation.
Currently, my team struggles to score 10 balls reliably in auto when using only encoder and gyro based odometry, since wheels would skid at higher accelerations. We’re looking into vision based pose estimation to deal with this issue, and it would be really great if Limelight SolvePnP could be sufficient.
For those who don’t know, Solve PnP calculates the orientation and position of the vision target using known corners of the vision target. In 2019, Solve PnP was introduced as (and still is) an experimental limelight feature.