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fix: docs updates for the different apriltag field layouts #1787

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mcm001 merged 3 commits into from
Feb 19, 2025
Merged

fix: docs updates for the different apriltag field layouts #1787

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1eac799
update docs to reflect multipe field layouts
samfreund Feb 18, 2025
ab0a11e
Merge branch 'main' into feat-apriltag-field-layout-stuff
samfreund Feb 18, 2025
00b350a
Merge branch 'main' into feat-apriltag-field-layout-stuff
samfreund Feb 19, 2025
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6 changes: 5 additions & 1 deletion docs/source/docs/apriltag-pipelines/multitag.md
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Expand Up @@ -6,6 +6,10 @@ PhotonVision can combine AprilTag detections from multiple simultaneously observ
MultiTag requires an accurate field layout JSON to be uploaded! Differences between this layout and the tags' physical location will drive error in the estimated pose output.
:::

:::{warning}
For the 2025 Reefscape Season, there are two different field layouts. The first is the [welded field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json), which photonvision ships with. The second is the [Andymark field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.json). It is very important to ensure that you use the correct field layout, both in the [PhotonPoseEstimator](https://docs.photonvision.org/en/latest/docs/programming/photonlib/robot-pose-estimator.html#apriltags-and-photonposeestimator) and on the [coprocessor](https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/multitag.html#updating-the-field-layout).
:::

## Enabling MultiTag

Ensure that your camera is calibrated and 3D mode is enabled. Navigate to the Output tab and enable "Do Multi-Target Estimation". This enables MultiTag to use the uploaded field layout JSON to calculate your camera's pose in the field. This 3D transform will be shown as an additional table in the "targets" tab, along with the IDs of AprilTags used to compute this transform.
Expand Down Expand Up @@ -51,7 +55,7 @@ The returned field to camera transform is a transform from the fixed field origi

## Updating the Field Layout

PhotonVision ships by default with the [2025 field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape.json). The layout can be inspected by navigating to the settings tab and scrolling down to the "AprilTag Field Layout" card, as shown below.
PhotonVision ships by default with the [2025 welded field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json). The layout can be inspected by navigating to the settings tab and scrolling down to the "AprilTag Field Layout" card, as shown below.

```{image} images/field-layout.png
:alt: The currently saved field layout in the Photon UI
Expand Down
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