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To be useful for coordinate alignment, you’ll need to have at least 3 AprilTags visible sometime during each shot, for long enough to get a decent 3-D solve for it. They don’t all have to be visible at the same time. They should be spread out, not clustered together, for accuracy. (Only two are required for tripod shots.)
Typically this means significantly more than 3 tags in the scene, which is why having self-identifying tags is helpful.
Be aware that tighter shots can wind up with few to no visible tags and have a plan B.
Important : AprilTags are sensitive to motion blur and (less so) to defocusing because it searches for the edges of the square, and because of the comparatively smaller data bits.
Crucial : Don’t move the AprilTags on the set between shots! They must stay in the same location to be useful!
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