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NVIDIA-ISAAC-ROS / isaac_ros_apriltag

NVIDIA-accelerated Apriltag detection and pose estimation.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
107 stars 19 forks source link

Support for Multi-Camera(s) ? #14

Closed HappySamuel closed 1 month ago

HappySamuel commented 2 years ago

Hi

Does isaac_ros_apriltag support multi-camera(s) ? If does, how much camera(s) can it support at the same time ? How shall i config the parameters for different camera(s) ? As my robot has 4 camera(s), front, left, right, rear.

Best, Samuel

hemalshahNV commented 2 years ago

You'd want to run 4 separate instances of the Apriltag node to detect fiducials in each of the cameras separately. Apriltag pose estimation is intended to work with individual frames from a monocular camera and doesn't really have a multi-camera application unless you had something else in mind.

HappySamuel commented 2 years ago

Hi @hemalshahNV

Thanks for the guidance, i will try out the separate instances of Apriltag node(s) for each camera(s).

Best, Samuel

HappySamuel commented 2 months ago

Hi @hemalshahNV

Will there be any multi-cameras support for this isaac_ros_apriltag, similar to other isaac_ros packages, currently all support multi-cameras on the latest release 3.0.1

Best, Samuel

hemalshahNV commented 2 months ago

Hi, Samuel. We don't have any plans to support multi-camera AprilTag detection yet, no, but how did you envision it would work? If it is just tracking a tag across cameras, you should be able to do that by tracking the pose of a tag relative to say a camera rig frame. Were you thinking of using overlapping fields of view to get a more accurate estimation perhaps?