christian-rauch
commented
2 months ago Isn't the tag length already defined as the inner length? See https://github.com/AprilRobotics/apriltag?tab=readme-ov-file#pose-estimation which specifically states:
Note: The tag size should not be measured from the outside of the tag. The tag size is defined as the distance between the detection corners, or alternately, the length of the edge between the white border and the black border.
and then shows the corner points of the edges.
zacario-li
When I try to estimate the pose with 'Standard41h12,' 'Standard52h13,' 'tagCustom48h12,' etc., which do not have black borders, I believe the 'tagsize' should be modified to represent the inner corner edge length rather than the outer edge length.(Refer to the code here). I tested using the inner edge length, and the translation accuracy is improved compared to using the outer edge.