Query about 3D coordinate frame of detected Tag pose about apriltag HOT 9 CLOSED

Hi,
I have the same question. Could you find the answer ?

Thank you.

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Hi guys,
Q1: Yes, you are right. The coordinates of the tag are equal to the camera coordinates, i.e., x->right, y->down, z->inside the tag. You should be able to contrast this against the estimated 3-D tag orientation / rotation matrix.

Q2: The sequence of Euler angles doesn't matter as soon as you preserve it through all your calculations. You can use any one. A very typical sequence used in many engineering applications is XYZ, i.e., first rotation around z-axis (yaw), then rotation around y-axis (pitch), and finally around x-axis (roll).

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did anyone get the poses using the python binding already?

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nope, but I rather used a MATLAB implementation I wrote for that purpose, perhaps it could be helpful....
https://github.com/alddiaz/MATLAB_AprilTag3

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Hi guys,
Q1: Yes, you are right. The coordinates of the tag are equal to the camera coordinates, i.e., x->right, y->down, z->inside the tag. You should be able to contrast this against the estimated 3-D tag orientation / rotation matrix.

Q2: The sequence of Euler angles doesn't matter as soon as you preserve it through all your calculations. You can use any one. A very typical sequence used in many engineering applications is XYZ, i.e., first rotation around z-axis (yaw), then rotation around y-axis (pitch), and finally around x-axis (roll).

Are you sure?

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I'm sorry, my tag got left hand coordinate system, maybe x->right, y->down, z->outside.
pose_R :
[[ 0.9999614 -0.00163934 -0.00863229]
[-0.00865461 -0.01413587 -0.99986263]
[-0.00151709 -0.99989874 0.01414951]]
pose_t :
[[0.00151295 0.14521985 0.23501338]]

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The pose refers to the position of the tag within the camera frame, not the position of the camera relative to the tag. Maybe this is why it appears left-handed?

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The position of my tag within the camera frame, I am sure.

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I have added information regarding the coordinate frame to the user guide: https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide#coordinate-system

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