Re: Integrate external markers from apriltag_ros with Priors

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-external-markers-from-apriltag-ros-with-Priors-tp10358p10361.html

You can set Marker/Priors even if you subscribe to apriltag_ros output. Make sure you are using the same IDs.

I don't think AprilTagDetectionArray supports metadata describing the real pose of the tag. Note that the poses output from apriltag_ros are relative to camera, not in global fix frame, so they cannot be used as priors.