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York-SDCNLab / IILFM

This is a fiducial marker system designed for LiDAR sensors. Different visual fiducial marker systems (Apriltag, ArUco, CCTag, etc.) can be easily embedded. The usage is as convenient as that of the visual fiducial marker. The system shows potential in SLAM, multi-sensor calibration, augmented reality, and so on.
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define the locations of the vertices with respect to the world coordinate system #7

Closed CLboyrobot closed 1 month ago

CLboyrobot commented 6 months ago

hello,thank you for your great work,could you plealse tell me the locations of the vertices with respect to the world coordinate system hwo to get? i am looking forward to you

yorklyb commented 5 months ago

The locations of the vertices expressed in the world frame are defined by you. The following book (starting from page 331) should be helpful: http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf

Suppose that the coordinates of a vertex expressed in the marker frame are p, the world coordinates of it will be p' = T*p. You need to define T yourself.