AprilTag地图规范
Limelight的场地空间定位功能使用.fmap文件来计算机器人姿态，用于WPILIB的姿态估计器。 我们的fmap文件支持由不同目标尺寸和不同标签系列组成的地图。
您可以使用fmap来定义"环境"（如FRC场地）或"物体"（如带有多个AprilTag的物体）。 要使用fmap，您只需要通过界面或REST上传API将其上传到您的Limelight即可。
.fmap文件是一个包含单个"fiducial"数组的JSON文件。 fiducial数组中的每个条目具有以下结构：
| family | AprilTag/基准标记系列 |
| id | 标签ID |
| size | 标签尺寸（毫米） |
| transform | 目标的4x4矩阵变换。行主序，国际单位。 |
| unique | 指定目标在此地图中是唯一的还是出现多次 |
此外，顶层对象有一个指定地图类型的"type"字符串。
| type | 场地类型，如frc、ftc、ftcd（ftc菱形） |
2024 FRC Crescendo的AprilTag地图 - 感谢Kevin Hjelstrom
{
"type": "frc",
"fiducials": [
{
"family": "apriltag3_36h11_classic",
"id": 1,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 2,
"size": 165.1,
"transform": [
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"unique": 1
},
{
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"id": 3,
"size": 165.1,
"transform": [
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{
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"transform": [
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{
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{
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{
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"id": 9,
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{
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]
}