Re: Integrate external markers from apriltag_ros with Priors

Posted by fboris on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-external-markers-from-apriltag-ros-with-Priors-tp10358p10363.html

Yes, apriltag_ros send relative pose from tag to camera.  I saw there is coordinate tranform from tag to odom frame when it is going to insert new landmarks. (code) This conversion function looks like it is converting poses under camera frame to global-fix frame. If I modify apriltag_ros to send poses under a global fixed frame, will it disrupt the coordinate conversion in the landmarksFromROS function?