Merge pull request #279 from Lecrapouille/master

Document the meaning of apriltag_pose_t struct
AprilRobotics · Jun 14, 2023 · ed85cbc · ed85cbc
2 parents df4aee5 + f21c951
commit ed85cbc
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/apriltag_pose.h b/apriltag_pose.h
@@ -17,9 +17,14 @@ typedef struct {
     double cy; // In pixels.
 } apriltag_detection_info_t;
 
+/**
+ * This struct holds the transformation from the camera optical frame to
+ * the April tag frame. The pose refers to the position of the tag within
+ * the camera frame.
+ */
 typedef struct {
-    matd_t* R;
-    matd_t* t;
+    matd_t* R; // Rotation matrix 3x3 of doubles.
+    matd_t* t; // Translation matrix 3x1 of doubles.
 } apriltag_pose_t;
 
 /**