Re: How to improve mapping accuracy based on ArUco identification code?

Posted by javad0111 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-improve-mapping-accuracy-based-on-ArUco-identification-code-tp8393p9083.html

Hi Mathieu,

I am working on the same problem as ChenTengyun. But I want to try the case when one Tag with special id would be the origin of Map frame (or maybe map frame), that's why I added an if-condition to have prior constraint for only one tag. Changes are added here as following:

if(!uContains(poses, jter->first))
{
        poses.insert(std::make_pair(jter->first, poses.at(*iter) * jter->second.transform()));
}
links.insert(std::make_pair(jter->first, jter->second.inverse()));
Link::Type kPosePrior;
if (jter->first== 104){
        Transform MARKER_ABSOLUTE_POSE=Transform(0, 0, 0, 0, 0, 0, 1);
        std::cout<<"check inside the code of uContains ******************"<<std::endl; //for checking if this line is read.
        links.insert(std::make_pair(jter->first, Link(jter->first,jter->first, kPosePrior, MARKER_ABSOLUTE_POSE, cv::Mat::eye(6,6,CV_64FC1)*0.001)));
}

But the problem is I see no changes with this modification! I would appreciate it if you could help me out, thanks in advance.

Kind regards,
Javad