the pose of apriltag is not right (D455 1280x720 color),

[ctxqlxs]

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Required Info
Camera Model	{D455 }

Issue Description

the pose of apriltag is not right (D455 1280x720), do we need to do something like [this]?(https://github.com/IntelRealSense/librealsense/blob/5ff27fca5aaeec4736d6bb3bfb958fee82ee198b/examples/pose-apriltag/rs-pose-apriltag.cpp#L121)

[MartyG-RealSense]

Hi @ctxqlxs The SDK's pose examples are designed for use only with the RealSense T265 Tracking Camera. The 400 Series stereo depth cameras that are equipped with an IMU (D435i and D455) do not have support for pose data built in. The T265 requirement is mentioned in the introductory lines of the documentation of the pose examples.

https://github.com/IntelRealSense/librealsense/tree/master/examples/pose-apriltag#rs-pose-apriltag-sample https://github.com/IntelRealSense/librealsense/tree/master/examples/pose#rs-pose-sample

It is possible to use a different type of fiducial image marker called ArUco with the 400 Series cameras though.

An article on the official RealSense blog about the use of the D435 camera model with Everdrone medical flying drones shows how Everdrone makes use of marker images to guide the landing of the drone.

https://www.intelrealsense.com/everdrone/

https://www.youtube.com/watch?v=e_aGS1pEDIw

An example of a 2DOF ArUco pose estimator in ROS that was tested with D435 is in the link below.

https://github.com/Jphartogi/ipa_marker_detection

[ctxqlxs]

You've misunderstood. @MartyG-RealSense I didn't use the code referenced above. 640x480, it seems right: but 1280x720: and i have changed the camera intrinsic.

[MartyG-RealSense]

What program are you using for the tag detection please?

Normally the distortion coefficients are all set to zero automatically on the 400 Series cameras. On the D455 model, the coefficients of the color profiles are an exception to this and report as non-zero. This subject was discussed on another case yesterday.

https://github.com/IntelRealSense/librealsense/issues/8810