Frame Rate April Tags

[tobias1234]

Hi,

what kind of frame rates are there to expect for april tag pose estimation at VGA resolution with the new H7?

Cheers
Tobias

[kwagyeman]

April Tags runs at 240x240 max on the H7 at about 20 FPS.

The AprilTag algorithm has a rather large memory overhead that scales exponentially with resolution. Anyway, in order to get more RAM for the algorithm I locked the res to 256x256 at max. This allowed me to cut the size of the union find table by half allowing for higher reses than 160x120. But, this also limits the max res too.