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-tp6369p6386.html
Hi,
Show TF display in RVIZ, it will be a lot easier to see the frames. It seems a scale issue, the tags are detected behind the walls. Note that if you didn't calibrate the camera, the apriltag size set in the config file may not match the same size the camera is actually seeing.
What kind of apriltag are you using? With RTAB-Map's built-in apriltag marker detection parameter, only DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11 are available, so I cannot debug it with only the database. Can you share the apriltag config file? or can you use 36h11 tags to make it easier to debug?
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Apriltags-to-optimize-the-graph-tp6369p6386.html
Hi,
Show TF display in RVIZ, it will be a lot easier to see the frames. It seems a scale issue, the tags are detected behind the walls. Note that if you didn't calibrate the camera, the apriltag size set in the config file may not match the same size the camera is actually seeing.
What kind of apriltag are you using? With RTAB-Map's built-in apriltag marker detection parameter, only DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11 are available, so I cannot debug it with only the database. Can you share the apriltag config file? or can you use 36h11 tags to make it easier to debug?
cheers,
Mathieu
| Free forum by Nabble | Edit this page |