About how to cal the distance between the tag and camera. about apriltag2 HOT 2 CLOSED

This is just a CMake wrapper for the original apriltag2 library from https://april.eecs.umich.edu/software/apriltag.html which provides the 2D corner coordinates and the homography of the markers. To get the full pose of the marker in the camera frame, you need to know the intrinsic parameters of the camera and the physical size of the marker edge.

I am using the library in a ROS2 node: https://github.com/christianrauch/apriltag2_node. The method AprilTag2Node::getPose(const matd_t& H, geometry_msgs::msg::Transform& t) computes the pose of the marker given the homography matrix H that you get from apriltag_detection_t after detection. The implementation is based on: https://dsp.stackexchange.com/a/2737/31703.

from apriltag2.

from apriltag2.