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-tp10358p10371.html

The fixed frame in landmarksFromROS (odom) is used to adjust tag pose accordingly to current odometry timstamp used to create the new node in the graph. Nodes may be created at a different time than when the tag has been detected. The returned landmarks contain relative poses from base_link frame to tag frame, so you cannot feed a not relative tag to that function.

It is fine to use apriltag_ros on the two other RGB cameras, the tag detections will be transformed in base_link frame and used as is.

I still think using Marker/Priors is the best solution in your case. Note that the tricky part with tags, is to set appropriate rotation. You can do a run without Marker/Priors, open database in rtabmap-databaseViewer and mouse-over the landmarks in GraphView to know their position/rotation. Then based on your real-world coordinates, you can adjust the values to create the priors.

cheers,
Mathieu