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christianrauch / apriltag_ros

ROS2 node for AprilTag detection
MIT License
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pose estimation option #24

Closed christianrauch closed 5 months ago

christianrauch commented 6 months ago

The previous pose estimation method via homography (https://dsp.stackexchange.com/a/2737/31703) was not very accurate in some scenarios (issue #14). This PR adds a new parameter pose_estimation_method that lets a user select one of two pose estimation methods:

  1. pnp (default): uses OpenCV's cv::solvePnP
  2. homography: essentially the old method via the homography but reusing the implementation estimate_pose_for_tag_homography from the AprilTag library

pnp is more accurate but slower than homography and is going to be the new default pose estimation as we prefer accuracy over runtime on this case. See https://github.com/christianrauch/apriltag_ros/issues/14#issuecomment-1849071810 for details (thanks @lennartalff).

Fixes #14.

23pointsNorth commented 5 months ago

P.S. Tested this branch and the results are much much more stable.

christianrauch commented 5 months ago

Thanks for confirming this.