Question about Apriltag Configuration

[shlee853]

Hi,

I want to get meanning of apriltag configuration as below.

        "fixed_apriltags":      [{                      
                "tag_id":       0,                                 
                "R_tag_to_fixed":       [[0, -1, 0], [1, 0, 0], [0, 0, 1]],
                "T_tag_wrt_fixed":      [0, 0, 0]
                }],                                

AprilTag Id:0
R_tag_to_fixed: is this rotation matrix from body coordinator to ApriTag 0? Could you please let me know meaning of matrix?
T_tag_wrt_fixed: is this XYZ offset from body coordinator to Apriltag 0? right?

[modaltb]

Hi @shlee853 ,

There's a pretty good tutorial from our Guru here: https://www.youtube.com/watch?v=0j7CjmDvluM

-Travis