Landmarks from apriltag markers.

[antithing]

Hi, thanks for making this code available.

I am trying to use it with a pre determined map of ceiling mounted apriltag markers. (corner positions known).

Would you be able to give me a few tips on how to use your example and add marker corners?

Would I give each corner an id , and set them as landmarks?

Where is the camera / robot pose added?

Thanks!

[antithing]

Hi @RossHartley apologies for resurrecting this, I am back on this project and am stuck. If you are able to point me in the right direction here, it would be much appreciated.

In the landmark example, what are the landmarks exactly?
2d pixel positions? or 3d world points in camera / world frame?

Thanks you!