From de961588b7b59762ef80787cf97dabf341505a91 Mon Sep 17 00:00:00 2001 From: Stefan Benz Date: Thu, 17 Feb 2022 14:00:32 +0100 Subject: [PATCH] add description and image in README.md --- README.md | 7 + apriltag_ros/docs/tag_size_guide.svg | 224 +++++++++++++++++++++++++++ 2 files changed, 231 insertions(+) create mode 100644 apriltag_ros/docs/tag_size_guide.svg diff --git a/README.md b/README.md index 413c9720..988140ec 100644 --- a/README.md +++ b/README.md @@ -24,6 +24,13 @@ catkin build # Build all packages in the workspace (catkin_make_isolated will ``` See the [ROS wiki](http://wiki.ros.org/apriltag_ros) for details and tutorials. +## Tag Size Definition + +For a correct depth estimation (and hence the correct full pose) it is necessary to specify the tag size in config/tags.yaml correctly. In the [Wiki for the AprilTag Library](https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide#pose-estimation) the correct interpretation of the term "tag size" is explained. The size is defined by the length of the black/white border between the complete black and white rectangle of any tag type. Note that for apriltag3 marker families this does not in fact correspond to the outside of the marker. + +Below is a visualization of the tag size (red arrow) to be specified for the most common tag classes: +![Tag Size Guide](./apriltag_ros/docs/tag_size_guide.svg) + ## Contributing Pull requests are welcome! Especially for the following areas: diff --git a/apriltag_ros/docs/tag_size_guide.svg b/apriltag_ros/docs/tag_size_guide.svg new file mode 100644 index 00000000..2dbda28d --- /dev/null +++ b/apriltag_ros/docs/tag_size_guide.svg @@ -0,0 +1,224 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + Marker Size definition for apriltag_ros + + + + + +