@Nitin-Varma-Vegesna said in Apriltag relocalization not relocalizing?: @Nitin-Varma-Vegesna Is there any release that is known to work for April Tag Detection? https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tag-detector The dev branch is the most recent - I have to check with the engineering team on this as I am unsure the priority of april tag detection and positioning based off it. Will relay back

@Eric-Katzfey ──────────────────────────────────────────────────────────────────────────────── system-image: 1.8.02-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0054 mach.var: 1.0.1 SKU: MRB-D0014-4-V1-C27-T9-M22-X0 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.4.5 ──────────────────────────────────────────────────────────────────────────────── Packages: I am getting this issue as well, where I constantly get WARNING, apriltag roll/pitch out of bounds issue with the front or down tracking camera.

Hey @dvz, thanks for your query We’re currently in the process of updating the voxl-tag-detector to support additional AprilTag families beyond just the 36h11. If you’d like to try this yourself in the meantime, the following line in main.cpp creates the detector for the 36h11 family: here To add support for the tagCustom48h12 family, you can: Add the include: #include <tagCustom48h12.h> Replace the detector creation line with: tf = tagCustom48h12_create(); Please note that this change may affect the current functionality, you’ll likely need to make additional modifications in main.cpp to ensure it builds and runs correctly. As mentioned, we’re actively working on making this a much smoother process in the future. But if you’d like to get started now, the above steps should point you in the right direction.

Detections is pertinent to voxl-tflite-server and onboard computer vision on yolo, NOT on april tags.

@Eric-Katzfey Thank you for the reply, If I understand correctly, the example you provided shows MAVSDK running directly on the VOXL — so on the drone itself. However, we want to run our script on a separate PC to be able to control all drones at once. We're not sure which port to use to communicate with PX4 while also taking advantage of the relocalization handled by VOXL. Thank you again for your help!

@Madelyne-Rossmann , sounds good! We will work on enabling larger resolutions for calibration and tag detection. It is a bit of a hassle due to very large frames, so some optimizations need to be made. Alex

Problem solved, Thanks anyway

Spot on @Matt-Ooi - the voxl2 is natively meant to handle transformations for ardupilot and px4 - BUT you are using MAVROS which is a different tranformation all together - hence why you would have to do the transofmratio yourself before sending into the flight stack running ardupilot (aka when calling mavros offboard) or something

@Alex-Kushleyev yes seems like it, thank you!

@iparra have you read through the documentation on how to configure the tags? https://docs.modalai.com/voxl-tag-detector/#voxl-configure-tag-detector

@Hyosun-Yoo said in [yocto:/# roslaunch voxl_cam_ros tracking_slave.launch] Error Message ?: Re: AprilTag Relocalization Dear I got an error message when I run this command. [yocto:/# roslaunch voxl_cam_ros tracking_slave.launch] Please tell me how to solve this message. VOXL Vision (modalai-3-2-0-0.3.4-b.tar.gz) VOXL Vision PX4 Apriltag Relocalization error Error message ERROR: could not open camera subscriber for cam id 1 [ERROR] [1034.046473200]: CameraManager::Initialize() failed [ERROR] [1034.046845023]: Unable to open camera. ===============* [image: 1660694916409-5c2c6beb-9c8b-432b-8430-fcc4d81c1ef3-image.png] Thank you so much. Mr. Yoo, hyosun

Documentation updated here!