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    Question about Apriltag Configuration

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    • S
      shlee853
      last edited by 23 May 2021, 09:22

      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?

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      • M
        modaltb ModalAI Team
        last edited by 24 May 2021, 15:33

        Hi @shlee853 ,

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

        -Travis

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