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How to get apriltags' corner location and ID #1199

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ZitongLan opened this issue Jan 16, 2024 · 3 comments
Open

How to get apriltags' corner location and ID #1199

ZitongLan opened this issue Jan 16, 2024 · 3 comments

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@ZitongLan
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Hello! I am new to rtabmap. And I put some tags in the environment to enhance the map building quality. But actually what I am interesting know is the tag's location in the world coordinate. I turn on the tag detection option in the rtabmap and have successfully recognized the tags. I saved the map data into a .db file. Is there a way to get the tags information from these .db file? For example, the tags' ID and location of the tags' four corners in the world coordinates?

Screenshot from 2024-01-16 15-24-48
@ZitongLan
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image
for example, I have the above tag detection. And I would like to know the tags' id and their corredponding transformation matrix as showed in the map.

@ZitongLan
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https://drive.google.com/file/d/1bjzE68mvXHUCNhVxd3hRkiu6eC-2NTSz/view?usp=drive_link
to help me understand my .db file. I attached the original tag_detect.db file here

matlabbe added a commit that referenced this issue Jan 20, 2024
@matlabbe
Export Poses: Added support of landmarks. Fixed g2o export with 6DoF …
13cd5e7 
…landmark constaints. Adjusted g2o export landmark id. (#1199)
@matlabbe
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To make it more convenient, I updated the menu option "File->Export poses..." with commit above to easily export tag poses with RGBDSLAM +ID format and g2o format.

g2o format:

PARAMS_SE3OFFSET 0 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000
VERTEX_SE3:QUAT 42 0.819282 0.488257 0.011752 -0.441424 -0.496760 0.563409 0.490860
VERTEX_SE3:QUAT 38 0.522782 0.837418 0.015320 -0.199097 -0.630587 0.713700 0.230983
VERTEX_SE3:QUAT 37 0.904054 -0.151404 0.013637 -0.481060 -0.400194 0.503236 0.595970
VERTEX_SE3:QUAT 35 0.832135 -0.533397 0.018474 -0.605095 -0.301754 0.334092 0.656648
VERTEX_SE3:QUAT 1 -0.000000 -0.000000 -0.000000 -0.011382 -0.040387 0.000323 0.999119
VERTEX_SE3:QUAT 2 0.000577 -0.000267 -0.000228 -0.011366 -0.040431 0.000465 0.999118
VERTEX_SE3:QUAT 3 -0.000539 -0.000272 0.000131 -0.011343 -0.040275 0.000326 0.999124
VERTEX_SE3:QUAT 4 -0.000850 -0.000450 0.000132 -0.011571 -0.040339 0.000345 0.999119
VERTEX_SE3:QUAT 5 -0.000607 -0.000695 0.000101 -0.011400 -0.040553 0.000428 0.999112
VERTEX_SE3:QUAT 6 -0.000809 -0.000266 -0.000064 -0.011428 -0.040695 0.000220 0.999106
VERTEX_SE3:QUAT 7 -0.000564 -0.000646 0.000295 -0.011289 -0.040402 0.000537 0.999120
VERTEX_SE3:QUAT 8 -0.000437 -0.000777 0.000012 -0.011142 -0.040316 0.000868 0.999125
VERTEX_SE3:QUAT 9 -0.000489 -0.001396 0.000457 -0.010361 -0.039980 0.001563 0.999146
VERTEX_SE3:QUAT 10 -0.000609 -0.000616 0.000154 -0.009053 -0.040920 0.010313 0.999068
VERTEX_SE3:QUAT 11 -0.006241 0.011677 0.000039 -0.004871 -0.040644 0.110201 0.993066
VERTEX_SE3:QUAT 12 -0.006476 0.015727 0.000844 -0.011053 -0.036330 0.114536 0.992693
VERTEX_SE3:QUAT 13 -0.011113 0.013309 0.001670 0.003570 -0.036042 0.117771 0.992380
VERTEX_SE3:QUAT 14 -0.016918 0.017398 0.000595 0.006427 -0.037218 0.193481 0.980377
VERTEX_SE3:QUAT 15 -0.018686 0.020766 0.000219 0.001921 -0.038344 0.205386 0.977928
VERTEX_SE3:QUAT 16 -0.017305 0.017686 0.000023 0.010132 -0.037168 0.198688 0.979305
VERTEX_SE3:QUAT 17 -0.023873 0.006940 0.009873 0.014546 -0.021110 0.107169 0.993910
VERTEX_SE3:QUAT 18 -0.025634 0.001384 0.007292 -0.025846 -0.036911 -0.027053 0.998618
VERTEX_SE3:QUAT 19 -0.026471 -0.003155 0.001741 -0.015777 -0.041427 -0.078213 0.995951
VERTEX_SE3:QUAT 20 -0.027618 -0.006194 0.002638 -0.017402 -0.044063 -0.144016 0.988441
VERTEX_SE3:QUAT 24 -0.034211 -0.001495 0.002570 0.010180 -0.035211 0.030620 0.998859
VERTEX_SE3:QUAT 25 -0.034994 0.021265 0.002141 -0.022261 -0.022208 0.163951 0.985967
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EDGE_SE3 42 14 -0.344132 0.119320 0.881452 0.508813 0.382537 -0.481791 0.602206 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
EDGE_SE3 42 15 -0.346901 0.118964 0.882823 0.512585 0.376565 -0.471548 0.610818 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
EDGE_SE3 42 16 -0.331480 0.113993 0.892279 0.512084 0.384115 -0.483640 0.596924 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
EDGE_SE3 42 17 -0.386889 0.144796 0.864831 0.483381 0.410339 -0.527156 0.565748 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
EDGE_SE3 42 18 -0.373671 0.109589 0.893057 0.394887 0.506550 -0.578287 0.503047 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
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EDGE_SE3 38 25 -0.052958 0.193788 0.961230 -0.279959 -0.574072 0.669369 -0.379487 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
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EDGE_SE3 37 3 0.003823 0.209493 0.892314 0.452207 0.384822 -0.520462 0.613629 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
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EDGE_SE3 35 18 -0.154466 -0.026771 0.995075 0.619656 0.300447 -0.324378 0.648488 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
EDGE_SE3 35 19 -0.035629 0.111808 1.004645 0.541750 0.341728 -0.417714 0.644394 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
EDGE_SE3 35 20 -0.010085 -0.003606 1.012108 0.544828 0.406493 -0.449258 0.579735 999.999953 0.000000 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 0.000000 999.999953 0.000000 0.000000 0.000000 100.000002 0.000000 0.000000 100.000002 0.000000 100.000002
EDGE_SE3:QUAT 1 2 0.000501 -0.000274 -0.000270 -0.000063 -0.000103 0.000063 1.000000 136880.991825 0.000000 0.000000 0.000000 0.000000 0.000000 136880.991825 0.000000 0.000000 0.000000 0.000000 136880.991825 0.000000 0.000000 0.000000 2584.108689 0.000000 0.000000 2584.108689 0.000000 2584.108689
EDGE_SE3:QUAT 1 11 -0.005522 0.011617 0.000684 0.010061 -0.001857 0.109055 0.993983 5373.498267 0.000000 0.000000 0.000000 0.000000 0.000000 5373.498267 0.000000 0.000000 0.000000 0.000000 5373.498267 0.000000 0.000000 0.000000 268.962561 0.000000 0.000000 268.962561 0.000000 268.962561
EDGE_SE3:QUAT 2 3 -0.000529 0.000308 0.000338 0.000017 0.000158 -0.000139 1.000000 7550.160745 0.000000 0.000000 0.000000 0.000000 0.000000 7550.160745 0.000000 0.000000 0.000000 0.000000 7550.160745 0.000000 0.000000 0.000000 33333333.333333 0.000000 0.000000 33333333.333333 0.000000 33333333.333333
EDGE_SE3:QUAT 2 13 -0.009908 0.011132 0.001859 0.018879 0.002201 0.117598 0.992879 5154.566848 0.000000 0.000000 0.000000 0.000000 0.000000 5154.566848 0.000000 0.000000 0.000000 0.000000 5154.566848 0.000000 0.000000 0.000000 203.316563 0.000000 0.000000 203.316563 0.000000 203.316563
EDGE_SE3:QUAT 2 14 -0.018638 0.018561 0.003374 0.024014 0.000735 0.192356 0.981031 10073.455654 0.000000 0.000000 0.000000 0.000000 0.000000 10073.455654 0.000000 0.000000 0.000000 0.000000 10073.455654 0.000000 0.000000 0.000000 263.528410 0.000000 0.000000 263.528410 0.000000 263.528410
EDGE_SE3:QUAT 2 16 -0.018622 0.017915 0.001952 0.028629 0.000573 0.197446 0.979896 5373.127931 0.000000 0.000000 0.000000 0.000000 0.000000 5373.127931 0.000000 0.000000 0.000000 0.000000 5373.127931 0.000000 0.000000 0.000000 240.567420 0.000000 0.000000 240.567420 0.000000 240.567420
EDGE_SE3:QUAT 2 17 -0.025259 0.006914 0.012709 0.029635 0.019043 0.104656 0.993884 7080.055684 0.000000 0.000000 0.000000 0.000000 0.000000 7080.055684 0.000000 0.000000 0.000000 0.000000 7080.055684 0.000000 0.000000 0.000000 213.749762 0.000000 0.000000 213.749762 0.000000 213.749762
EDGE_SE3:QUAT 3 4 -0.000135 -0.000064 0.000019 -0.000075 0.000058 0.000094 1.000000 10963.376012 0.000000 0.000000 0.000000 0.000000 0.000000 10963.376012 0.000000 0.000000 0.000000 0.000000 10963.376012 0.000000 0.000000 0.000000 2293.720348 0.000000 0.000000 2293.720348 0.000000 2293.720348
EDGE_SE3:QUAT 4 5 0.000239 -0.000134 -0.000015 0.000209 -0.000131 0.000046 1.000000 7794.575518 0.000000 0.000000 0.000000 0.000000 0.000000 7794.575518 0.000000 0.000000 0.000000 0.000000 7794.575518 0.000000 0.000000 0.000000 3972.840706 0.000000 0.000000 3972.840706 0.000000 3972.840706
EDGE_SE3:QUAT 5 6 -0.000244 0.000582 -0.000198 -0.000050 -0.000152 -0.000249 1.000000 8370.772891 0.000000 0.000000 0.000000 0.000000 0.000000 8370.772891 0.000000 0.000000 0.000000 0.000000 8370.772891 0.000000 0.000000 0.000000 9317.137528 0.000000 0.000000 9317.137528 0.000000 9317.137528
EDGE_SE3:QUAT 6 7 0.000288 -0.000254 0.000174 0.000024 0.000126 0.000101 1.000000 10512.121746 0.000000 0.000000 0.000000 0.000000 0.000000 10512.121746 0.000000 0.000000 0.000000 0.000000 10512.121746 0.000000 0.000000 0.000000 2584.108689 0.000000 0.000000 2584.108689 0.000000 2584.108689
EDGE_SE3:QUAT 7 8 0.000080 -0.000030 -0.000491 0.000017 -0.000122 0.000080 1.000000 11373.990481 0.000000 0.000000 0.000000 0.000000 0.000000 11373.990481 0.000000 0.000000 0.000000 0.000000 11373.990481 0.000000 0.000000 0.000000 4980.219349 0.000000 0.000000 4980.219349 0.000000 4980.219349
EDGE_SE3:QUAT 8 9 -0.000323 -0.000607 0.000340 0.000669 0.000012 0.000289 1.000000 11551.101591 0.000000 0.000000 0.000000 0.000000 0.000000 11551.101591 0.000000 0.000000 0.000000 0.000000 11551.101591 0.000000 0.000000 0.000000 3521.546756 0.000000 0.000000 3521.546756 0.000000 3521.546756
EDGE_SE3:QUAT 9 10 -0.000164 0.000649 -0.000308 0.001546 -0.001060 0.009310 0.999955 14926.847028 0.000000 0.000000 0.000000 0.000000 0.000000 14926.847028 0.000000 0.000000 0.000000 0.000000 14926.847028 0.000000 0.000000 0.000000 4392.140456 0.000000 0.000000 4392.140456 0.000000 4392.140456
EDGE_SE3:QUAT 10 11 -0.006113 0.011273 0.000786 0.008227 -0.000812 0.099595 0.994994 5953.674033 0.000000 0.000000 0.000000 0.000000 0.000000 5953.674033 0.000000 0.000000 0.000000 0.000000 5953.674033 0.000000 0.000000 0.000000 3022.878384 0.000000 0.000000 3022.878384 0.000000 3022.878384
EDGE_SE3:QUAT 11 12 0.000823 0.003816 0.000824 -0.005718 0.004854 0.004762 0.999961 31613.517342 0.000000 0.000000 0.000000 0.000000 0.000000 31613.517342 0.000000 0.000000 0.000000 0.000000 31613.517342 0.000000 0.000000 0.000000 2635.284096 0.000000 0.000000 2635.284096 0.000000 2635.284096
EDGE_SE3:QUAT 12 13 -0.004999 -0.001419 0.001184 0.014612 -0.001443 0.003159 0.999887 44168.461053 0.000000 0.000000 0.000000 0.000000 0.000000 44168.461053 0.000000 0.000000 0.000000 0.000000 44168.461053 0.000000 0.000000 0.000000 2490.109357 0.000000 0.000000 2490.109357 0.000000 2490.109357
EDGE_SE3:QUAT 13 14 -0.004808 0.004962 -0.000784 0.005616 -0.001442 0.076959 0.997017 39081.633146 0.000000 0.000000 0.000000 0.000000 0.000000 39081.633146 0.000000 0.000000 0.000000 0.000000 39081.633146 0.000000 0.000000 0.000000 2490.109357 0.000000 0.000000 2490.109357 0.000000 2490.109357
EDGE_SE3:QUAT 14 15 -0.000493 0.003829 -0.000253 -0.004137 -0.000254 0.012167 0.999917 45969.824050 0.000000 0.000000 0.000000 0.000000 0.000000 45969.824050 0.000000 0.000000 0.000000 0.000000 45969.824050 0.000000 0.000000 0.000000 2329.284104 0.000000 0.000000 2329.284104 0.000000 2329.284104
EDGE_SE3:QUAT 15 16 -0.000074 -0.003356 -0.000144 0.008277 -0.000274 -0.007358 0.999939 43379.068877 0.000000 0.000000 0.000000 0.000000 0.000000 43379.068877 0.000000 0.000000 0.000000 0.000000 43379.068877 0.000000 0.000000 0.000000 2689.625608 0.000000 0.000000 2689.625608 0.000000 2689.625608
EDGE_SE3:QUAT 16 17 -0.009541 -0.007251 0.010663 0.003957 0.015120 -0.093947 0.995454 55057.934513 0.000000 0.000000 0.000000 0.000000 0.000000 55057.934513 0.000000 0.000000 0.000000 0.000000 55057.934513 0.000000 0.000000 0.000000 2875.330709 0.000000 0.000000 2875.330709 0.000000 2875.330709
EDGE_SE3:QUAT 17 18 -0.003016 -0.005113 -0.002324 -0.044741 -0.013229 -0.132826 0.990041 41375.424266 0.000000 0.000000 0.000000 0.000000 0.000000 41375.424266 0.000000 0.000000 0.000000 0.000000 41375.424266 0.000000 0.000000 0.000000 2009.385099 0.000000 0.000000 2009.385099 0.000000 2009.385099
EDGE_SE3:QUAT 18 19 -0.001013 -0.004298 -0.005711 0.008220 -0.003013 -0.051650 0.998627 23341.222287 0.000000 0.000000 0.000000 0.000000 0.000000 23341.222287 0.000000 0.000000 0.000000 0.000000 23341.222287 0.000000 0.000000 0.000000 1845.067729 0.000000 0.000000 1845.067729 0.000000 1845.067729
EDGE_SE3:QUAT 19 20 -0.000584 -0.003202 0.000870 -0.004258 -0.002026 -0.066098 0.997802 28241.497356 0.000000 0.000000 0.000000 0.000000 0.000000 28241.497356 0.000000 0.000000 0.000000 0.000000 28241.497356 0.000000 0.000000 0.000000 2635.284096 0.000000 0.000000 2635.284096 0.000000 2635.284096
EDGE_SE3:QUAT 20 24 -0.007630 0.002615 0.000695 0.033865 0.010142 0.173057 0.984277 25097.945868 0.000000 0.000000 0.000000 0.000000 0.000000 25097.945868 0.000000 0.000000 0.000000 0.000000 25097.945868 0.000000 0.000000 0.000000 2033.165626 0.000000 0.000000 2033.165626 0.000000 2033.165626
EDGE_SE3:QUAT 24 25 0.000566 0.022754 -0.000885 -0.027180 0.014886 0.134584 0.990418 44410.646837 0.000000 0.000000 0.000000 0.000000 0.000000 44410.646837 0.000000 0.000000 0.000000 0.000000 44410.646837 0.000000 0.000000 0.000000 1673.406751 0.000000 0.000000 1673.406751 0.000000 1673.406751

Note that g2o format cannot support negative ids, so to get the landmark ID, do landmark ID - max node ID. For example, here the vertex 35 is the landmark 10.

RGBDSLAM+ID format:

#timestamp x y z qx qy qz qw id
0.000000 0.819282 0.488257 0.011752 -0.441424 -0.496760 0.563409 0.490860 -17
0.000000 0.522782 0.837418 0.015320 -0.199097 -0.630587 0.713700 0.230983 -13
0.000000 0.904054 -0.151404 0.013637 -0.481060 -0.400194 0.503236 0.595970 -12
0.000000 0.832135 -0.533397 0.018474 -0.605095 -0.301754 0.334092 0.656648 -10
1705439446.543726 -0.000000 -0.000000 -0.000000 -0.011382 -0.040387 0.000323 0.999119 1
1705439447.567997 0.000577 -0.000267 -0.000228 -0.011366 -0.040431 0.000465 0.999118 2
1705439448.644842 -0.000539 -0.000272 0.000131 -0.011343 -0.040275 0.000326 0.999124 3
1705439449.667925 -0.000850 -0.000450 0.000132 -0.011571 -0.040339 0.000345 0.999119 4
1705439450.709745 -0.000607 -0.000695 0.000101 -0.011400 -0.040553 0.000428 0.999112 5
1705439451.762482 -0.000809 -0.000266 -0.000064 -0.011428 -0.040695 0.000220 0.999106 6
1705439452.796910 -0.000564 -0.000646 0.000295 -0.011289 -0.040402 0.000537 0.999120 7
1705439453.831560 -0.000437 -0.000777 0.000012 -0.011142 -0.040316 0.000868 0.999125 8
1705439454.873171 -0.000489 -0.001396 0.000457 -0.010361 -0.039980 0.001563 0.999146 9
1705439455.902823 -0.000609 -0.000616 0.000154 -0.009053 -0.040920 0.010313 0.999068 10
1705439456.935349 -0.006241 0.011677 0.000039 -0.004871 -0.040644 0.110201 0.993066 11
1705439457.935890 -0.006476 0.015727 0.000844 -0.011053 -0.036330 0.114536 0.992693 12
1705439458.963529 -0.011113 0.013309 0.001670 0.003570 -0.036042 0.117771 0.992380 13
1705439459.992214 -0.016918 0.017398 0.000595 0.006427 -0.037218 0.193481 0.980377 14
1705439461.021643 -0.018686 0.020766 0.000219 0.001921 -0.038344 0.205386 0.977928 15
1705439462.051487 -0.017305 0.017686 0.000023 0.010132 -0.037168 0.198688 0.979305 16
1705439463.081406 -0.023873 0.006940 0.009873 0.014546 -0.021110 0.107169 0.993910 17
1705439464.111071 -0.025634 0.001384 0.007292 -0.025846 -0.036911 -0.027053 0.998618 18
1705439465.140646 -0.026471 -0.003155 0.001741 -0.015777 -0.041427 -0.078213 0.995951 19
1705439466.170138 -0.027618 -0.006194 0.002638 -0.017402 -0.044063 -0.144016 0.988441 20
1705439470.251940 -0.034211 -0.001495 0.002570 0.010180 -0.035211 0.030620 0.998859 24
1705439471.255901 -0.034994 0.021265 0.002141 -0.022261 -0.022208 0.163951 0.985967 25

Note that to keep this format compatible with some benchmark tools, I put al landmarks with stamp=0 to be easily ignored downstream if needed.

This was referenced Jan 20, 2024
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