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for multi-tag pose estimations, use reproduction error to represent accuracy of estimate #78

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gcschmit opened this issue Jul 25, 2024 · 0 comments

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gcschmit commented Jul 25, 2024 •

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From this CD thread, instead of using ambiguity (which is always set to 0.2 for multi-tag), we should use the reprojection error:

cam.getLatestResult().getMultiTagResult().estimatedPose.bestReprojErr

This is also available from the PNPResult object.

PNPResult (PhotonVision dev-v2024.3.0-44-g3c58b05a) 5 works too :slight_smile: (although I think these docs might be just the latest, not pinned to any particular version)

We need to experiment some and see what is the range of values for the reproduction error and what values represent "good" estimates.

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gcschmit added the enhancement label

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