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AprilRobotics / apriltag

AprilTag is a visual fiducial system popular for robotics research.
https://april.eecs.umich.edu/software/apriltag
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python wrapper for estimate_tag_pose #237

Closed GeorgeWang26 closed 2 years ago

GeorgeWang26 commented 2 years ago

this is an extension to a previous issue #101

I looked at sitepackages/apriltag.py and under Detector class I found detection_pose() function that calls a cpp function with pose_from_homography(), which looks like estimate_tag_pose but I'm not 100% cerntain. I didn't find any extra documentation describing what detection_pose() does.

Can someone clarify that this is indeed a wrapper for esimate_tag_pose()?

Screenshot from 2022-06-21 17-20-36

Also the pose result from detection_pose() is a 4 by 4 matrix. How do I interprete this matrix?

Is it in the form of [ R00 R01 R02 TX ] [ R10 R11 R12 TY ] [ R20 R21 R22 TZ ] [ 0 0 0 1 ]

ori_lib

christian-rauch commented 2 years ago

Please post the raw text with markdown formatting and syntax highlighting in future.

Are you talking about the python wrapper in this very repository? There is no file apriltag.py or a reference to pose_from_homography. You may refer to https://pypi.org/project/apriltag/, which is not related to this repo. Please open an issue in their repo (https://github.com/swatbotics/apriltag) if you need support with their Python wrapper.