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stereolabs / zed-aruco

ZED SDK samples using ArUco tag detection
https://www.stereolabs.com/developers/
MIT License
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Marker accuracy #1

Closed A7ocin closed 2 years ago

A7ocin commented 4 years ago

Hi, I'm finding the accuracy of the 3D marker reprojection (multi-camera) on the point cloud a bit weak. The marker is 56cm in length and placed at circa 3m distance from both the ZED cameras, which lines of sight form a 90 degrees angle (their lines of sight are not parallel). More in details, the 3D pose of the marker seems correct, but the two point clouds are not being aligned correctly. It's like they are being shifted because they expect a marker of different dimensions.

Speaking about this ame issue, and referring to the docs, the default marker size should be 16cm:

The sample is expecting a 6x6 Aruco Dictionary with a 160mm marker by default. The bigger the marker, the better the camera position will be. It's important to make sure that the real-world size of the marker matches the size set in the samples (160mm) to avoid scale issues in the tracking.

While in the code it shows 15cm: acuroData.marker_length = 0.15f; // Size real size of the maker in meter

Is there a reason for that? Sorry for the long post, if useful I can also provide an image of the misalignment. Thank you

github-actions[bot] commented 2 years ago

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