Merge branch 'docs-22' into main

Author: tpoomlmly

docs/source/api/vision/index.rst

@@ -5,8 +5,8 @@ Vision
    :maxdepth: 1
    :caption: Quick Links:
 
-   orientation
    position
+   orientation
 
 .. figure:: /_static/api/vision/arena_marker.jpg
    :alt: An arena with Fiducial Markers.
@@ -86,7 +86,7 @@ You can access the position using ``m.distance``, ``m.cartesian`` and ``m.spheri
 
 * ``m.distance`` is equivalent to ``m.cartesian.z`` or ``m.spherical.dist``.
 
-For further information on position, including how to use ``m.cartesian``, ``m.spherical``, and the coordinate systems,
+For more information on position, including how to use ``m.cartesian``, ``m.spherical``, and the coordinate systems,
 see `Position <position.html>`__.
 
 It is also possible to look at the `Orientation <orientation.html>`__ of the marker.

docs/source/api/vision/position.rst

@@ -29,9 +29,9 @@ The camera is located at the origin, where the coordinates are ``(0, 0, 0)``.
    markers = r.camera.see()
 
    for m in markers:
-       print(m.position.cartesian.x)  # Displacement from the origin in metres, along x axis.
-       print(m.position.cartesian.y)  # Displacement from the origin in metres, along y axis.
-       print(m.position.cartesian.z)  # Displacement from the origin in metres, along z axis.
+       print(m.cartesian.x)  # Displacement from the origin in millimetres, along x axis.
+       print(m.cartesian.y)  # Displacement from the origin in millimetres, along y axis.
+       print(m.cartesian.z)  # Displacement from the origin in millimetres, along z axis.
 
 .. Hint:: The `y` axis decreases as you go up. This matches convention for computer vision systems.
 
@@ -47,9 +47,9 @@ Spherical
 The `spherical coordinates system <https://en.wikipedia.org/wiki/Spherical_coordinate_system>`_ has
 three values to specify a specific point in space.
 
-* ``r`` - The `radial distance`, the distance from the origin to the point, in metres.
-* ``θ`` (theta) -  The angle from the azimuth to the point, in radians.
-* ``φ`` (phi)   -  The polar angle from the plane of the camera to the point, in radians.
+* ``distance`` - The `radial distance`, the distance from the origin to the point, in millimetres.
+* ``rot_x`` -  Rotation around the X-axis, in radians, corresponding to `theta` on the diagram.
+* ``rot_y`` -  Rotation around the Y-axis, in radians, corresponding to `phi` on the diagram.
 
 The camera is located at the origin, where the coordinates are ``(0, 0, 0)``.
 
@@ -58,11 +58,8 @@ The camera is located at the origin, where the coordinates are ``(0, 0, 0)``.
    markers = r.camera.see()
 
    for m in markers:
-       print(m.position.spherical.r)  # Distance from the origin in metres
+       print(m.position.spherical.r)  # Distance from the origin in millimetres
        print(m.position.spherical.theta)  # The angle from the azimuth to the point, in radians.
        print(m.position.spherical.phi)  # The polar angle from the plane of the camera to the point, in radians.
 
 .. Hint:: You can use the ``math.degrees`` function to convert from radians to degrees.
-
-.. Note:: When searching for spherical coordinates, you may find a references with phi and theta the other way around.
-    This is due to there being *two* conventions for this. We use the ISO 80000-2 16.3 system, as often found in physics.