Kwabena W Agyeman

@v923z I have two users asking about this. What would it take for this to get done quickly?

@v923z - That's awesome. Can I buy you a beer?

Matd_op performs matrix math using the passed string: https://github.com/openmv/apriltag/blob/master/common/matd.h#L355 So, you can implement what that does by using your dot() and transpose() code. ... As for the code being implemented...

@v923z Awesome! Can you port the homography stuff too into a utils module? https://github.com/AprilRobotics/apriltag/blob/master/common/homography.h (Note that HOMOGRAPHY_COMPUTE_FLAG_INVERSE fails often. HOMOGRAPHY_COMPUTE_FLAG_SVD works more reliably). ``` matd_t *H = homography_compute(correspondences, HOMOGRAPHY_COMPUTE_FLAG_INVERSE); if...

Awesome!

Some comments on Transmit and Receive: I previously worked at Embark Trucks doing a lot of their embedded system design. I have seen how to use CAN effectively and have...

As for masks on filters. This is very rarely used. Typically, you are just looking for a few IDs that you have filters setup for. I would drop support for...

I'd recommend to never use the MCP2515. It actively randomly corrupts CAN packets. If you are building any application in the world using that part will lead to intermittent failures...

Could be that. I always grabbed a driver from online.

Yes, priority inversion is terrible. Ran into that on our trucks at Embark. Don't use a TX fifo. In the NXP driver I wrote... we have 32+ message buffers for...