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bbenligiray / stag

STag: A Stable Fiducial Marker System
MIT License
187 stars 52 forks source link

Unit of corners in config file? #22

Open fi6 opened 2 years ago

fi6 commented 2 years ago

I'm trying to get accurate pose of markers, but I'm not sure what is the unit of the corners in config yaml files. Is it in meter or inch, or something else?

bbenligiray commented 2 years ago

I don't know what yaml files you're referring to, but the pose is estimated assuming the top left corner is (0, 0) and the bottom right corner is (1, 1). So 1 unit of distance is equal to the real world width of your printed marker.

fi6 commented 2 years ago

I don't know what yaml files you're referring to, but the pose is estimated assuming the top left corner is (0, 0) and the bottom right corner is (1, 1). So 1 unit of distance is equal to the real world width of your printed marker.

Sorry that I may got the wrong repo(should be in stag_ros repo) for the config files. However, when you are saying (0, 0) to (1, 1) for the corners, is 1 unit of distance equal to 1 meter or 1000px, or something different?

bbenligiray commented 2 years ago

No, I mean if the black borders of the marker you have printed out is 20cm x 20cm, then 1 unit of distance will be equal to 20cm