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-tp10358p10440.html

When a landmark is detected, a new pose corresponding to that landmark is added to local graph here. When the landmark gets disconnected from the local graph, it is removed from the local graph here. The idea could be to not remove it, but instead add a virtual link to oldest node in local graph with that landmark id. That virtual link would need to be removed as soon we recall a node having that landmark as constraint and that node is linked to local graph. There could be some implementation details missing though.

I opened the database in RTAB-Map standalone app, clicked "yes" to use same parameters from the database, but clicked "no" to download data. Then close the database. Open Preferences->Source, set Source type as "Database" and scroll down to select that database. Click yes to use database's odometry and to set detection rate to 0 to process all frames. You can change the frame rate at the top of the window to reprocess slower or faster than real-time. On the main window, click on Play button. The GIF I created was by taking screenshots from the Graph View, opening them in Gimp as layers and aligning them on the map frame (change opacity of layers to align layers), then exported as animated gif.

cheers,
Mathieu