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-tp10358p10424.html

Hi Mathieu,
Here is database(https://drive.google.com/file/d/1jEsJ7k8DuQ6Jn3V4Ci0F58XFEu-P51Bo/view?usp=sharing). This is hand held testing. I use rgbd camera(oakd) for odometry and rtabmap(forward). Another single camera for tag detection(downward). I use apriltag_ros for tag detection. "  -Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3 --Kp/DetectorStrategy 11 --Vis/FeatureType 11  --RGBD/MarkerDetection false --Optimizer/PriorsIgnored false --VhEp/Enabled false --Mem/UseOdometryFeatures=True --Rtabmap/DetectionRate 1  --RGBD/OptimizeMaxError 0 --Optimizer/Strategy 2  --RGBD/OptimizeRobust true  --Rtabmap/TimeThr 200 --RGBD/OptimizeFromGraphEnd true"  these parameters  has been used in RTAB. You will see some apriltag on the wall in database. But I actually do not use this. I use apriltag on the floor.