Re: Using Apriltags to optimize the graph
Posted by nikitha on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Apriltags-to-optimize-the-graph-tp6369p6384.html
Thank you for the reply. The tags have an edge length of 11cm. Hence i have set the size to 0.11 in tags.yaml file.
This is the view in RVIZ with size=0.11
The arrow on top represents the information from detected tag whereas the one below(passing through the frame) represents the filtered odometry coming from robot_localisation package.
When i reduced the size to 0.012, the view is as shown.
Here is a sample database - https://drive.google.com/open?id=1zEDZR-hU7L3ST2sVJhlDdVn6ViByZAaf
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Apriltags-to-optimize-the-graph-tp6369p6384.html
Thank you for the reply. The tags have an edge length of 11cm. Hence i have set the size to 0.11 in tags.yaml file.
This is the view in RVIZ with size=0.11
The arrow on top represents the information from detected tag whereas the one below(passing through the frame) represents the filtered odometry coming from robot_localisation package.
When i reduced the size to 0.012, the view is as shown.
Here is a sample database - https://drive.google.com/open?id=1zEDZR-hU7L3ST2sVJhlDdVn6ViByZAaf
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