Questions about tag position #36

TON14 · 2021-03-25T14:56:20Z

pose_t = [[-0.16225682]
[-0.20048863]
[ 1.01195728]]

for simplicity
x = -0.16225682
y = -0.20048863
z = 1.01195728

what units? Look like meters
x - is it left\right
y - is it up\down
z - is it distance or forward\backward
Is it relative to the center of the image or relative to the optical center (cx,cy from camera_params)?

dmklee · 2021-04-13T01:09:04Z

The units are based on whatever you provide for the tag_size argument to Detector.detect. So if you have a 2cm tag and you use tag_size=2 then the units are cm; if you use 0.02 then your units are meters.
x&y are in the plane of the tag, z is moving perpendicular to the plane
it is in the coordinate frame of the camera. I found the cv2 tutorial on pose estimation helpful for understanding how to move from camera coordinate frame to a more interpretable world coordinate frame.

This change adds `nitpicky=True` (which is an equivalent of `-n`) to make Sphinx emit warnings for any references to non-existing targets. Then, it adds `-W` to make it fail whenever a single warning is seen. Finally, `--keep-going` allows Sphinx to print out all the warnings before exiting instead of showing just one and bailing. Resolves #29 Refs: * https://www.sphinx-doc.org/en/master/man/sphinx-build.html#cmdoption-sphinx-build-n * https://www.sphinx-doc.org/en/master/man/sphinx-build.html#cmdoption-sphinx-build-W * https://www.sphinx-doc.org/en/master/man/sphinx-build.html#cmdoption-sphinx-build-keep-going

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