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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
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Covariance always zero #46

Open sandeepdutta opened 7 months ago

sandeepdutta commented 7 months ago

Hello,

I have been experimenting with this package, it is a high performance apriltag detector. However I see that the covariance matrix is always zero, am I doing something incorrect ? Without the covariance matrix, we are unable to determine the reliability of the detection.

Thank you Sandeep

ashwinvkNV commented 7 months ago

The current version of the library does not provide a covariance estimate as an output.@jaiveersinghNV can you mark this as a feature request?

gftabor commented 4 months ago

Ya this seems to be because the main apriltag_ros repo does the same thing. https://github.com/AprilRobotics/apriltag_ros/issues/122

Made the design decision to publish Pose Covariance but only actually provide Pose messages and always leave covariance as 0. Actually filling the covariance data would be amazing. There is discussion in that linked issue above.

Hey @jaiveersinghNV :)