AprilRobotics / apriltag

AprilTag is a visual fiducial system popular for robotics research.
https://april.eecs.umich.edu/software/apriltag
Other
1.47k stars 522 forks source link

corner location has always 0.125 pixel error #334

Open Yes-Jumby opened 3 weeks ago

Yes-Jumby commented 3 weeks ago

Describe the bug i generate a apriltag 36h11 pic to test the corner locations by apriltag lib and theory,but cannot match

To Reproduce here is my pic arucoBoard_DICT-DICT_APRILTAG_36h11.zip

Expected behavior if the corner orign(up-left) of lib is (0,0),the corner should be (9.5,9.5) if the corner orign(up-left) of lib is (0.5,0.5),the corner should be (10,10) but the output is (9.875,9.875)

Input Image image image

Code version 3.4.0 release