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How to get the coordinates and ID of AprilTag markers #1146
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Hi, I am using the iOS version of RTAB-MAP. When scanning, I place AprilTag markers in the environment and run the scan, and I have confirmed that the coordinates of the markers are visualized in the RTAB-MAP scan results. Is it possible to get the coordinates of each AprilTag marker directly from the sqlite3 file after scanning? |
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You may try this: http://official-rtab-map-forum.206.s1.nabble.com/Extract-camera-poses-tp9724p9725.html The tags would have negative ids |
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Thanks for responding so quickly. I will give it a try👍 |
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@matlabbe Let me ask an additional question. Is there any way to get the coordinates of this marker? By the way, the reason I want the coordinates of the marker is that I am trying to utilize the coordinates of the marker to combine two measurements in the same room. Thank you in advance for your help. |
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When exporting in g2o format in "Tools->Edit Database...", the tags will appear with their positive ID + last pose ID + 1. Here is an example of tag 42 exported in g2o format, with corresponding pose 85: Tag has
EDIT: Just realized we cannot get the orientation of the tag, just the position with g2o format. |
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👍 1
You may try this: http://official-rtab-map-forum.206.s1.nabble.com/Extract-camera-poses-tp9724p9725.html
The tags would have negative ids