Re: Best Practices for Quick Automatic Localization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Best-Practices-for-Quick-Automatic-Localization-tp6881p6900.html

Hi,

To use apriltag inside rtabmap, you should build rtabmap with OpenCV >= 3.4.2, then set parameters Marker/Dictionary to 19 (type 36h10) or 20 (type 36h11), Marker/Length and RGBD/MarkerDetection to true. It assumes that all tags have the same size!

It is also possible to use apriltag ros package. This approach will let you customize the patterns and other more specific apriltag parameters. An example in this launch file: https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_apriltag_ros.launch

cheers,
Mathieu