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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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how to set the border 1 bit for apriltag 3 detection #639

Closed XavierQL closed 11 months ago

XavierQL commented 11 months ago

As the title described, who can share me the method? as the creat target pdf coding description, borderBits must be consitent with the variable "blackBorder" in the file ethz_apriltag2/src/TagFamily.cc, but i only see blackdorder=2 in file TagFamily.h. and I change the blackborder=1, but it doesn't work. looking forward for help

goldbattle commented 11 months ago

The codebase uses AprilTag2 not 3. You can try to change the boarder amount, but all the generated boards will be with blackboarder=2 is my understanding. I remember in the past that it should work, so I recommend you inspect your implementation. I believe aslam_cv/aslam_cameras_april/include/aslam/cameras/GridCalibrationTargetAprilgrid.hpp has the default of 2 in it not the file you have mentioned.