AprilTag 地图规范
Limelight 的场地空间定位功能使用 .fmap 文件来计算机器人位姿，供 WPILIB 的位姿估计器使用。 我们的 fmap 文件支持由不同目标尺寸和不同家族组成的地图。
您可以使用 fmap 来定义"环境"（如 FRC 场地）或"物体"（如附有 多个 AprilTag 的物体）。 要使用 fmap，您只需通过界面或 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/基准标记家族 |
| id | 标签 ID |
| size | 标签尺寸（毫米） |
| transform | 目标的 4x4 矩阵变换。行优先，SI 单位。 |
| unique | 指定该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 "type" 字符串，用于指定地图类型。
| type | 场地类型，例如 frc、ftc、ftcd（ftc 菱形） |
FRC 2024 Crescendo AprilTag 地图 - 感谢 Kevin Hjelstrom
{
"type": "frc",
"fiducials": [
{
"family": "apriltag3_36h11_classic",
"id": 1,
"size": 165.1,
"transform": [
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1
],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 2,
"size": 165.1,
"transform": [
-0.5,
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0.866025,
-0.5,
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1.355852,
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 3,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 4,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 5,
"size": 165.1,
"transform": [
0,
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 6,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 7,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 8,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 9,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 10,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 11,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 12,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 13,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 14,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 15,
"size": 165.1,
"transform": [
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],
"unique": 1
},
{
"family": "apriltag3_36h11_classic",
"id": 16,
"size": 165.1,
"transform": [
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],
"unique": 1
}
]
}