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.

@Rupesh Apologies for the late reply
It looks like there’s an issue with how the AprilTag system is relocalizing the drone. In my tests, the z-value appears to be misinterpreted, which could explain why your drone was climbing in altitude to correct its height estimate. We’re actively working on a fix.

@Rupesh What rotation matrix are you currently using in your tag_locations.conf?
You can try setting it to:

[[0, 1, 0],
[0, 0, 1],
[1, 0, 0]]
Keep in mind that relocalization will only work reliably at certain viewing angles relative to the AprilTag. A good way to test is to rotate the tag and observe at which orientations voxl-vision-hub --debug_fixed_frame gives a value and not WARNING, apriltag roll/pitch out of bounds. Improvements are in progress to make this more robust across a wider range of angles.

@Rupesh Thanks for your question. Our subject matter expert is currently unavailable, but we will review this and get back to you within a few days.

@GlennTee Could you please describe how did you connect to VSCode with using the SSH Client extension?