From c2127ac820a9f871a60881d29866164e4e11121d Mon Sep 17 00:00:00 2001 From: JA-01 <160474233+JA-01@users.noreply.github.com> Date: Wed, 19 Mar 2025 12:47:29 -0700 Subject: [PATCH] [Docs] Fix broken hyperlink (Fixes #1802) (#1821) --- docs/source/docs/apriltag-pipelines/3D-tracking.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/source/docs/apriltag-pipelines/3D-tracking.md b/docs/source/docs/apriltag-pipelines/3D-tracking.md index 416d12ab6..6722add60 100644 --- a/docs/source/docs/apriltag-pipelines/3D-tracking.md +++ b/docs/source/docs/apriltag-pipelines/3D-tracking.md @@ -1,10 +1,10 @@ # 3D Tracking -3D AprilTag tracking will allow you to track the real-world position and rotation of a tag relative to the camera's image sensor. This is useful for robot pose estimation and other applications like autonomous scoring. In order to use 3D tracking, you must first {ref}`calibrate your camera `. Once you have, you need to enable 3D mode in the UI and you will now be able to get 3D pose information from the tag! For information on getting and using this information in your code, see {ref}`the programming reference. `. +3D AprilTag tracking will allow you to track the real-world position and rotation of a tag relative to the camera's image sensor. This is useful for robot pose estimation and other applications like autonomous scoring. In order to use 3D tracking, you must first {ref}`calibrate your camera `. Once you have, you need to enable 3D mode in the UI and you will now be able to get 3D pose information from the tag! For information on getting and using this information in your code, see {ref}`the programming reference `. ## Ambiguity -Translating from 2D to 3D using data from the calibration and the four tag corners can lead to "pose ambiguity", where it appears that the AprilTag pose is flipping between two different poses. You can read more about this issue `here. ` Ambiguity is calculated as the ratio of reprojection errors between two pose solutions (if they exist), where reprojection error is the error corresponding to the image distance between where the apriltag's corners are detected vs where we expect to see them based on the tag's estimated camera relative pose. +Translating from 2D to 3D using data from the calibration and the four tag corners can lead to "pose ambiguity", where it appears that the AprilTag pose is flipping between two different poses. You can read more about this issue [here](https://docs.wpilib.org/en/stable/docs/software/vision-processing/apriltag/apriltag-intro.html#d-to-3d-ambiguity). Ambiguity is calculated as the ratio of reprojection errors between two pose solutions (if they exist), where reprojection error is the error corresponding to the image distance between where the apriltag's corners are detected vs where we expect to see them based on the tag's estimated camera relative pose. There are a few steps you can take to resolve/mitigate this issue: