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Meaning of scale indicator in image generated by fiducial::PoseDrawer?

asked 2011-04-21 00:34:35 -0500

Julius gravatar image

updated 2011-04-21 00:46:33 -0500

What is the meaning of "scale 0.25 meters"?

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The picture has been generated with package fiducial in object_recognition stack. See function PoseDrawer in fiducial.cpp. What came to my mind is that the vectors representing the three axes are of length 0.25m. But alas that's just a guess.

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answered 2011-09-02 11:43:13 -0500

Helen gravatar image

Yes, you are correct. From the code:

414 void PoseDrawer(cv::Mat& drawImage, const cv::Mat& K, const PoseRT& pose)
415 {
416   Point3f z(0, 0, 0.25);
417   Point3f x(0.25, 0, 0);
418   Point3f y(0, 0.25, 0);
419   Point3f o(0, 0, 0);

The length of the drawn arrows is 0.25 meters for scale.

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Asked: 2011-04-21 00:34:35 -0500

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Last updated: Sep 02 '11