tag centre, in the camera frame (m)
x
y
z
d
m
true side
tag orientation
pan
°
about y
tilt
°
about x
roll
°
about z
the measurement
noise
px
d̂
m
side the solver assumes
redraw noise
place the corners by clicking
clear
presets
square-on
oblique
far
default
show closed-form
show refined
reset view
drag 3D view to orbit · shift-drag pans · scroll zooms
the image
·
the four corners, in order
camera at the origin ·
true tag
·
closed form
·
refined
1
the corners
§3–4
2
build A, 8×9, and take its null vector
§5
keep λ
3
M = K
f
−1
H: scale and sign
§6.1–2
fix the sign
4
r
3
= r
1
×r
2
, nearest rotation
§6.3–4
snap to a rotation
5
refine on the reprojection error
§7
refine