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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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apriltags will detect but pose data is always NaN #8

Closed altineller closed 2 years ago

altineller commented 2 years ago

Hello,

I managed to run isaac_ros_apriltag on docker, and /tag_detection publishes detected tags correctly, but all members of pose data are NaN.

Where can I start to debug this problem.

Best Regards, Can

hemalshahNV commented 2 years ago

It sounds like the camera is not calibrated perhaps? AprilTag detector needs intrinsic parameters (focal length, principal point, etc.) in order to calculate 3D poses from the pixel space tag detections.