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apriltag_ros bundle calibration

asked 2019-11-07 07:39:57 -0500

wintermute gravatar image


I am trying to do for apriltag_ros package.

In the tutorial, a calibration page, consisting of 5 markers are shown. Can I find this file as a pdf?

If not, how are the markers are arranged? (the 4 markers on the outside, what is their distance from corner to corner)

Can I just arbitarily lay out any marker arrangement?

Best regards, C.

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answered 2019-11-07 09:13:34 -0500

wintermute gravatar image

updated 2019-11-07 09:14:41 -0500


I created a file in gimp that is almost the same as the calibration bundle, shown at

Before printing, it would need to be scaled, each tag right now is 10x10 pixels.

Also the tag_bundle parameter in the tutorial should be changed. right now, it is not symetric, whereas the one I created is symettric.

I tried attaching xcf file, but would not accept it, so I put it in a github repo.

Both the png file and xcf file can be accessed:

png file is attached below, it will have to be printed considering scale.


Best Regards, C.A.

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Asked: 2019-11-07 07:39:57 -0500

Seen: 190 times

Last updated: Nov 07 '19