introlab
Using markerPriors
Hi Mathieu
I have QR codes in known locations on the floor. I set those locations as marker priors. When they are detected, a landmark is added to the graph, but it is not so close to the prior location.
How does the marker priors work? I thought that they are hard constraints of positions and that the other nodes position may be updated according to the marker prior positions, but it seems that it doesn't happen.
For example, landmark with prior position of x=12.0, y=-0.5 ends up with x=12.004567, y=-0.989715. Is there any way I can tell rtabmap that the landmark has a fixed position?
Another question - is there a way to label landmarks or give them any name? I see that labels are applied only to regular nodes of the graph.
Make sure you enabled prior optimization by setting Optimize/PriorsIgnored to false.
See also https://github.com/introlab/rtabmap_ros/issues/867
We cannot label a landmark, as it is in fact a "Link" not a "Node" in the database.
