Comments (5)
You can send a PR which adds the comments to the apriltag_pose_t
struct anyway. Not sure about the wiki. Someone else has to add those changes as you cannot send a PR to the wiki git (https://github.com/AprilRobotics/apriltag.wiki.git).
Apart from this, I find the two figures confusing. First of all, the coordinate axis colours do not match. The X, Y, Z axes should correspond to the colours red, green, blue. We are also using the OpenCV convention with Z pointing forwards and X and Y like in the image frame. Then, showing a figure with multiple tags on a cube with a single coordinate frame is confusing. I would propose showing a single tag with the same orientation as in the example tags in the apriltag-imgs repo with only a single coordinate frame.
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- yes I can create a PR for the comment.
The X, Y, Z axes should correspond to the colors red, green, blue.
lol my bad this is what I wanted to respect (XYZ => RGB) but I totally failed for the camera, good catch :)multiple tags on a cube
yes I did not found a flat and rotated April.
I'll redo
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Here second attempt with pull request.
If the wiki is too problematic, what about creating a pull request to add markdown files back to the doc folder ?
AprilTag-User-Guide(1).md
coord.drawio.txt
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Are you sure this is the correct camera coordinate system? This looks like the OpenGL camera (projection) coordinate system. Shouldn't Z point forward and Y down?
The rest is just nitpicking: The tag looks like you just cropped it out of the box from the image above. This is clearly visible :-) and does not look nice. Also, the coordinate axes' colours are desaturated and do not have a nice contrast against the tag image. E.g. the green and blue look similar against the tag background.
In any case, you will need @mkrogius to update the wiki as, AFAIK, you cannot open a PR for the wiki. Alternatively, we could move the documentation directly to the repo, e.g. inside a doc folder, and link it from the main README.md on the repo start page. This will also make it easier discoverable.
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Arf, yes I c... again the axis. I definitely do not know to draw :( The coordinate system has the origin at the camera center. The z-axis points from the camera center out the camera lens.
Ok so tag and camera have the same coordinate? Thanks for your patience. I fix my previous comment and close this ticket to let a better drawer make a better figure.
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Related Issues (20)
- Help with thresholding parameters HOT 1
- How to run pose estimation in python ? HOT 3
- compatibility with WIN32_LEAN_AND_MEAN HOT 8
- Anyone implmented c# wrapper for this? HOT 1
- error when i run make in ubuntu 22.04 HOT 1
- Has anyone confirmed that this library can work on ESP32S3? HOT 3
- How to use intrinsics in Scaramuzza format to estimate the apriltag pose? HOT 3
- Suggestions on improving detections in low light conditions HOT 4
- Python bindings for apriltag_detect throws error when no detection is found HOT 5
- What's the meaning of 'apriltag.c:448: homography_compute2: Assertion `max_val_idx >= 0' failed.'? HOT 5
- Planned Python Package Index (PyPI) package? HOT 4
- Build fail on Ubuntu Noble in g2d.c: `last_quadrant` is used unitialized; treat-all-warnings-as-errors HOT 4
- How to detect AprilGrid? HOT 5
- (Python) 'Nthreads' is an invalid keyword argument for this function HOT 1
- Question: Use more than 4 points for pose computation HOT 3
- corner location has always 0.125 pixel error
- ReadMe File Error HOT 2
- Question: How to process moving frames? HOT 5
- from apriltag import apriltag no module HOT 2
- quick_decode struct allocates 6Gb memory for standard52h13 family HOT 3
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