Position

Position represents the location of a marker in 3D space, relative to the camera.

These properties can be accessed as follows:

distance

The distance between the camera and the centre of the marker, in millimetres.

horizontal_angle

Horizontal angle from the centre of the camera’s view to the marker, in radians. Ranges -π to π. Directly in front is zero, positive to the right.

vertical_angle

Vertical angle from the centre of the camera’s view to the marker, in radians. Ranges -π to π. Directly in front is zero, positive values upwards.

from sbot import *

robot = Robot()

markers = robot.camera.see()

for marker in markers:
   print(marker.position.distance)
   print(marker.position.horizontal_angle)
   print(marker.position.vertical_angle)

tip

You can use the math.degrees function to convert from radians to degrees.

Examples

The following images visually explains what positive and negative angles represent.

horizontal_angle	vertical_angle
0	0
0	0.2
0.2	0
0	-0.2
-0.2	0