Re: Hesai QT128 with Zed2i and external fused Odometry

Posted by matlabbe on Apr 07, 2024; 10:16pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p10085.html

If you are using external apiltag_ros, the "Marker/" parameters are not used. These parameters are used only when we detect tags internally in rtabmap when "RGBD/MarkerDetection" is enabled (to work, rtabmap should be built against opencv built with aruco module, like explained in that post).

You would have to use ros parameters "landmark_angular_variance" (default 0.001) and "landmark_angular_variance" (default 0.001) to adjust how good the detections are, this will affect graph optimization and loop closure rejections. In comparison with my test above, with external apriltag_ros, I would set "landmark_angular_variance" to 0.1 and "landmark_angular_variance" to 0.05. For the max detection range, that would need to be done externally.