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UbiquityRobotics / fiducials

Simultaneous localization and mapping using fiducial markers.
BSD 3-Clause "New" or "Revised" License
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What is the difference between image error and object error in fiducial transforms? #210

Open sebymv opened 4 years ago

sebymv commented 4 years ago

I am using fiducial transforms for finding the transformation between camera and object for camera calibration. I published the topic _/fiducialtransforms which publishes image error and object error along with rotation and translation. I would like to know what exactly is image error and object error

`fiducial_id: 100 transform: translation: x: 0.138788760176 y: -0.0747502797036 z: 0.53854969072 rotation: x: -0.70370667908 y: -0.67279283292 z: 0.194322848383 w: 0.119938919401

image_error: 5.73826072874

object_error: 0.0989452949008

fiducial_area: 25640.8290787 `

MoscowskyAnton commented 4 years ago

I also wonder that, have some ideas here #213 From source code I figure out that image_error is reprojection error in pixel, and object is the same, but converted to meters, based on aruco side length.