AprilTag Pose estimation

Hi, everyone, I follow the code of the “find_apriltags_3d_pose.py”, which is an example code for detecting the pose of the tags. However, I know that the translation unit is unknown and it is determined by the focal lengths and the size of the tag. Could anyone give me some instructions how to apply a conversion function to transfer to the actual distance in the real world? Thanks!

Please see the MavLink Apriltag example script. This demonstrates how to convert the output value to a distance that’s basically correct.

Also, please understand that the range value is much more precise the closer the tag is and falls in precision as the tag moves away.