Re: Using Apriltags to optimize the graph

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Apriltags-to-optimize-the-graph-tp6369p6379.html

Hi, is the tag size accurate in the config file? In the screenshots, the tags appear behind the walls, is it normal?

You may try to debug the scale parameter of the tags using rviz, show up the cloud of D435 and make sure the TF published by apriltag match exactly the location in the cloud. If it appears behind the tag, it means the size of the tag in the apriltag parameters is to large.

RGBD/MarkerDetection should set to false if apriltag_ros is used. RGBD/MarkerDetection assumes that all tags have exactly the same size.

If you have a database to share, it could be easier to look more in details.

cheers,
Mathieu