Apriltag relocalization not relocalizing?
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@James-Strawson we are still trying to understand this behaviour.
After several tests, we noticed that with the default SDK 1.4.1 on Starling 2 Max with C29 camera config :- If holding an apriltag in front of the front-tracking camera ([[0, 0, 1], [1, 0, 0], [0, 1, 0]]), we need to turn it counterclockwise 90 degrees to not have the "out of bounds" error
- If holding an apriltag at the bottom camera ([[0, -1, 0], [1, 0, 0], [0, 0, 1]]), we are unable to remote the error
We have found this as well : https://forum.modalai.com/topic/2653/stereo-tag-detection-warning-apriltag-roll-pitch-out-of-bounds?_=1741697621820
However, this code also keeps giving strange out of bounds errors.
Is it possible to show a working tag_locations.conf for both a tag on the ground and a tag against the wall?
We are not really experienced in the transforms needed and it seems like a problem with that -
@James-Strawson @Eric-Katzfey,
Can you show a working example on a dual camera config, please?
Both flat on the ground as against a wall.
This would help us a lot!Thanks in advance,
Maarten -
We have managed to solve the transformations and now get the correct tag detection.
But even with fixed_frame_filter_len set to 1, QVIO and OpenVins are used and we see no relocalisation happening.Does someone have a working example which we can look at, please?
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@Alex-Kushleyev Is there some news about this issue ?
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Is there already a solution for the problem from Kessie?
Is there anyone that has a working setup for AprilTag relocalization on the tracking_down camera?
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Hello All - I will be trying to recraete this issue in the coming days - will keep you all posted.
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@tomverstappen I am unable to recreate the issue with a starling running 1.5.0 - the output from voxl-vision-hub shows the relative coordinate frame from the tag relative to the camera and was able to get the drone to offset correctly.
Are there any logs you can paste in here or video?
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@Zachary-Lowell-0 Was there any fix to this.
────────────────────────────────────────────────────────────────────────────────
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 where I constantly get WARNING, apriltag roll/pitch out of bounds issue with the front or down tracking camera.
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@Nitin-Varma-Vegesna Is there any release that is known to work for April Tag Detection?
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@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
