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-tp8393p9092.html

Thanks for the reply.

1) I see that Marker/Prior parameter was recently added. Does it mean that I do not need to change the source code? So removing the part that I mentioned in my previous message.

2) I did the steps below, but I still see no changes or  translation from map frame: here is the picture of built map and frames.



     i. launching this launch file: aruco_multiple.launch
     ii. launching this launch file: rtabmao_l515_bag.launch
     iii. playing the bag file that publishes depth image , rbd image, camera info, and tf_static topics. There are three tags in the images with id of 104, 100, and 101. Link to the bag file: l515_with_aruco_42_seconds.bag
     iv. rosparam set /rtabmap/rtabmap/Marker/Priors "104 0 0 0 0 0 0"

Thanks again and kind regards,
Javad