The lack of retro reflective tape on the Double Substation seems like a glaring omission

[EmileH]

This would be the only field element that doesn’t have retro reflective tape for vision targeting. In addition, it’s probably the most critical field element for vision since it’s on the opposite side of the field.

While the AprilTag on that wall is useful, it’s going to require a significant change to our vision solution (going to mini-pc or Limelight 3) which otherwise could have simply reused our existing LL2+ hardware and tracked the tape targets. The performance of AprilTag tracking on existing LL2+ hardware at the moment requires custom firmware and performance is marginal at best, which makes it a very difficult proposition.

Thoughts?

Blog post from preseason on the topic: https://www.firstinspires.org/robotics/frc/blog/2022-control-system-reporting-2023-updates-and-beta-testing

[mdurrani834]

I agree there should be tape.

@EmileH

While the AprilTag on that wall is useful, it’s going to require a significant change to our vision solution (going to mini-pc or Limelight 3) which otherwise could have simply reused our existing LL2+ hardware and tracked the tape targets. The performance of AprilTag tracking on existing LL2+ hardware at the moment requires custom firmware and performance is marginal at best, which makes it a very difficult proposition.

A Pi 4, from McMaster Carr + usb global shutter camera will get you very solid performance at a low cost. But yeah, thats still a jump from stock LL.

[EricH]

I suggest reading H303-B, and the third paragraph of the Blue Box for H303. Note that I’m specifically telling you to read for “what is allowed” instead of the usual “what is not allowed”.

I think you can solve the whole “no retro-reflective tape” problem in about 20 minutes.

[CarlosGJ]

@mdurrani834

A Pi 4, from McMaster Carr + usb global shutter camera will get you very solid performance at a low cost.

Or, since it sounds like OP already has a limelight, flash Photonvision on it for free!

[EmileH]

I did mention this in my post. As it stands, the performance (FPS and latency) of AprilTag tracking on LL2+ plus the fact that it requires custom software makes it a tough sell for us. The ubiquity of teams using Limelight’s OEM software is a big draw for reliability and ease of support.