Frame Rate April Tags

Discussion related to "under the hood" OpenMV topics.
tobias1234
Posts: 1
Joined: Thu Oct 11, 2018 3:52 pm

Frame Rate April Tags

Postby tobias1234 » Thu Oct 11, 2018 3:58 pm

Hi,

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

Cheers
Tobias
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kwagyeman
Posts: 2291
Joined: Sun May 24, 2015 2:10 pm

Re: Frame Rate April Tags

Postby kwagyeman » Thu Oct 11, 2018 6:39 pm

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.
Nyamekye,

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