Seems to work, but to get the target outlines back Draw3dTargetsPipe would need to be modified to mimic the 2d version when a target has null tvec/rvec. (It is possible to have some targets with single-tag estimates and some without if doSingleTargetAlways is disabled and only some of the visible tags are in the tag layout)

but to get the target outlines back Draw3dTargetsPipe would need to be modified

Fixed this by computing the camera-to-tag transform for each tag that was used as part of the multitag result to replace the single-tag estimation.

but to get the target outlines back Draw3dTargetsPipe would need to be modified

Fixed this by computing the camera-to-tag transform for each tag that was used as part of the multitag result to replace the single-tag estimation.

Aha, that's smart. Can we have a indicator of some form telling people that's what's happening? And maybe also hide the ambiguity column?

Can we have a indicator of some form telling people that's what's happening?

How's this?