Skip to main content

Vision Pipelines

AprilTags (OV9281 Mono)​

  • Pipeline: AprilTag detector
  • Exposure: lock low; use LED ring if needed
  • Decimation/threads: tune for 60+ fps if possible
  • Use multi‑tag strategies in estimator for tighter solves.

Game Pieces (OV9782 Color)​

  • Pipeline: HSV/threshold color filtering → contours
  • Normalize lighting in the pit; lock exposure/white balance
  • Publish best target yaw/pitch/area; optionally project to field using our helper

Logging​

  • Log: detection rate, latency, number of tags, best target yaw/pitch.
  • Use /docs/programming/telemetry/annotations conventions for names like Vision/<cam>/....