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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-improve-mapping-accuracy-based-on-ArUco-identification-code-tp8393p9095.html

1) Yes

2) Forgot to mention that you need to set Optimizer/PriorsIgnored to false too, while also calling update_parameters service so that rtabmap actually read again the modified rosparam:

roslaunch rtabmap_l515_bag.launch use_sim_time:=true
roslaunch aruco_multiple.launch
rosparam set /rtabmap/rtabmap/Marker/Priors "104 0 0 0 0 0 0" 
rosparam set /rtabmap/rtabmap/Optimizer/PriorsIgnored false
rosservice call /rtabmap/update_parameters 
rosbag play --clock --pause l515_with_aruco_42_seconds.bag

cheers,
Mathieu