How to get the coordinates and ID of AprilTag markers #1146

takanotume24 · 2023-10-18T09:35:03Z

takanotume24
Oct 18, 2023

Hi, I am using the iOS version of RTAB-MAP. When scanning, I place AprilTag markers in the environment and run the scan, and I have confirmed that the coordinates of the markers are visualized in the RTAB-MAP scan results.

Is it possible to get the coordinates of each AprilTag marker directly from the sqlite3 file after scanning?
Or can I get it by doing some operation on the desktop version of RTAB-MAP?

Answered by matlabbe

Oct 18, 2023

You may try this: http://official-rtab-map-forum.206.s1.nabble.com/Extract-camera-poses-tp9724p9725.html

The tags would have negative ids

View full answer

matlabbe · 2023-10-18T14:59:02Z

matlabbe
Oct 18, 2023
Maintainer

You may try this: http://official-rtab-map-forum.206.s1.nabble.com/Extract-camera-poses-tp9724p9725.html

The tags would have negative ids

3 replies

takanotume24 Oct 19, 2023
Author

Thanks for responding so quickly. I will give it a try👍

takanotume24 Oct 20, 2023
Author

@matlabbe
I was able to get the coordinates of AprilTag Makers from opt_ids, opt_poses. Thank you!

Let me ask an additional question.
I have created a sqlite3 file in RTAB-MAP iOS, and in RTAB-MAP macOS I run "Edit Database" -> "Detect more loop closure ..." and save it to a sqlite3 database, the opt_ids and opt_poses entries in the Admin table of the sqlite3 database are NULL.
However, RTAB-MAP macOS is still able to draw the coordinates of the marker, and I think the marker position is saved somewhere else.

Is there any way to get the coordinates of this marker?

By the way, the reason I want the coordinates of the marker is that I am trying to utilize the coordinates of the marker to combine two measurements in the same room.

Thank you in advance for your help.

matlabbe Oct 21, 2023
Maintainer

When exporting in g2o format in "Tools->Edit Database...", the tags will appear with their positive ID + last pose ID + 1. Here is an example of tag 42 exported in g2o format, with corresponding pose 85:

Tag has VERTEX_TRACKXYZ type:

PARAMS_SE3OFFSET 0 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000
VERTEX_TRACKXYZ 85 0.892730 0.197429 0.140051
VERTEX_SE3:QUAT 1 -0.211291 -0.173402 0.153380 0.669626 -0.270599 -0.456019 0.520024
VERTEX_SE3:QUAT 2 -0.169164 -0.151044 0.162201 0.679956 -0.211855 -0.398328 0.578025
VERTEX_SE3:QUAT 3 -0.072943 -0.159020 0.140965 0.707760 -0.088395 -0.338250 0.613881
VERTEX_SE3:QUAT 4 -0.008934 -0.068186 0.144626 0.707866 0.038245 -0.190146 0.679196
VERTEX_SE3:QUAT 5 0.009631 0.016376 0.157730 0.703749 0.112483 -0.086063 0.696188
VERTEX_SE3:QUAT 6 -0.014341 0.070183 0.159784 0.707284 0.126330 -0.045373 0.694069
VERTEX_SE3:QUAT 7 -0.026806 0.110660 0.163089 0.696729 0.153867 -0.001064 0.700637
VERTEX_SE3:QUAT 8 -0.050639 0.213120 0.155828 0.686330 0.215961 0.050235 0.692668
VERTEX_SE3:QUAT 9 -0.055472 0.314404 0.076576 0.596904 0.374739 0.079977 0.704897
VERTEX_SE3:QUAT 10 -0.071044 0.338759 0.099870 0.603240 0.391900 0.140492 0.680277
VERTEX_SE3:QUAT 11 -0.025920 0.170107 0.181835 0.669899 0.221355 0.063666 0.705822
VERTEX_SE3:QUAT 12 -0.005192 0.095655 0.213240 0.697602 0.117814 -0.015311 0.706567
VERTEX_SE3:QUAT 13 0.023819 0.038300 0.322113 0.696123 0.117698 -0.040864 0.707029
VERTEX_SE3:QUAT 14 0.064557 -0.096600 0.288286 0.692977 0.146354 -0.097470 0.699187
VERTEX_SE3:QUAT 15 -0.015234 -0.188514 0.160088 0.699763 0.070915 -0.284669 0.651357
VERTEX_SE3:QUAT 16 -0.081736 -0.239358 0.148079 0.682702 -0.065065 -0.404412 0.605092
VERTEX_SE3:QUAT 17 -0.171020 -0.293474 0.137486 0.689630 -0.152832 -0.466349 0.532514
VERTEX_SE3:QUAT 18 -0.280072 -0.321799 0.135817 0.663236 -0.247684 -0.530023 0.466741
VERTEX_SE3:QUAT 19 -0.371041 -0.329037 0.173140 0.624713 -0.345009 -0.546779 0.437877
VERTEX_SE3:QUAT 20 -0.292824 -0.323301 0.207015 0.630656 -0.323990 -0.509800 0.487245
VERTEX_SE3:QUAT 21 -0.191932 -0.305851 0.169697 0.656395 -0.235513 -0.485053 0.527638
VERTEX_SE3:QUAT 22 -0.159362 -0.265049 0.101781 0.684681 -0.180702 -0.493539 0.504953
VERTEX_SE3:QUAT 23 -0.117447 -0.181953 0.118296 0.681842 -0.157642 -0.460029 0.546456
VERTEX_SE3:QUAT 24 -0.066060 -0.151257 0.136928 0.690606 -0.112733 -0.421174 0.577032
VERTEX_SE3:QUAT 25 -0.028724 -0.133270 0.125666 0.705693 -0.027048 -0.360811 0.609165
VERTEX_SE3:QUAT 26 0.017480 -0.038711 0.124953 0.701903 0.092234 -0.240175 0.664185
VERTEX_SE3:QUAT 27 0.028113 0.053924 0.150399 0.695790 0.155229 -0.130529 0.689016
VERTEX_SE3:QUAT 28 0.032488 0.176890 0.136321 0.659206 0.265634 -0.030946 0.702801
VERTEX_SE3:QUAT 29 0.030762 0.296227 0.092946 0.593186 0.375734 0.029230 0.711407
VERTEX_SE3:QUAT 30 0.003537 0.356913 0.055562 0.537824 0.473097 0.079578 0.693248
VERTEX_SE3:QUAT 31 -0.002418 0.362327 0.053278 0.527261 0.493779 0.093702 0.685126
VERTEX_SE3:QUAT 32 0.037617 0.262460 0.100202 0.602294 0.384330 0.031215 0.698969
VERTEX_SE3:QUAT 33 0.056927 0.132217 0.142227 0.669469 0.247104 -0.066017 0.697418
VERTEX_SE3:QUAT 34 0.034674 -0.018406 0.157988 0.692957 0.121446 -0.177015 0.688279
VERTEX_SE3:QUAT 35 0.013036 -0.111915 0.162836 0.694010 0.037968 -0.264322 0.668613
VERTEX_SE3:QUAT 36 -0.047699 -0.192655 0.139451 0.704483 -0.046146 -0.359376 0.610265
VERTEX_SE3:QUAT 37 -0.149122 -0.240979 0.121015 0.691415 -0.145389 -0.471720 0.527530
VERTEX_SE3:QUAT 38 -0.224090 -0.295693 0.095925 0.673904 -0.195930 -0.542261 0.461972
VERTEX_SE3:QUAT 39 -0.229298 -0.291056 0.149976 0.645739 -0.251468 -0.531615 0.487001
VERTEX_SE3:QUAT 40 -0.156543 -0.239670 0.156709 0.667238 -0.196710 -0.462870 0.549409
VERTEX_SE3:QUAT 41 -0.129474 -0.225675 0.094998 0.680907 -0.161804 -0.456905 0.549020
VERTEX_SE3:QUAT 42 -0.115757 -0.230851 0.062102 0.682014 -0.132153 -0.470870 0.543759
EDGE_SE3_TRACKXYZ 85 13 0 0.000985 -0.273052 0.854924 999.999953 0.000000 0.000000 999.999953 0.000000 999.999953
EDGE_SE3_TRACKXYZ 85 6 0 0.074834 0.167675 0.890407 999.999953 0.000000 0.000000 999.999953 0.000000 999.999953
EDGE_SE3_TRACKXYZ 85 7 0 0.073225 -0.134372 0.913236 999.999953 0.000000 0.000000 999.999953 0.000000 999.999953
EDGE_SE3_TRACKXYZ 85 12 0 0.037691 -0.139306 0.905913 999.999953 0.000000 0.000000 999.999953 0.000000 999.999953
EDGE_SE3:QUAT 2 1 -0.005624 -0.010274 0.047066 0.044644 -0.089585 -0.014318 0.994875 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 3 2 -0.084872 -0.010037 0.049689 0.044759 -0.130884 0.040829 0.989545 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 4 3 -0.039474 -0.016702 0.102588 0.075907 -0.188374 -0.023371 0.978881 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 5 4 -0.017435 -0.017300 0.084047 0.032920 -0.122666 -0.021216 0.991675 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 5 6 -0.021166 -0.004392 -0.054794 -0.001816 0.038817 0.018798 0.999068 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 5 27 0.020487 -0.001139 -0.036712 0.000336 -0.000862 -0.062096 0.998070 14556.555778 0.000000 0.000000 0.000000 0.000000 0.000000 14556.555778 0.000000 0.000000 0.000000 0.000000 14556.555778 0.000000 0.000000 0.000000 439.214046 0.000000 0.000000 439.214046 0.000000 439.214046
EDGE_SE3:QUAT 6 7 -0.007706 0.000033 -0.041475 -0.018818 0.049141 0.010250 0.998562 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 8 7 -0.017903 0.007294 0.103549 0.009692 -0.080459 0.008926 0.996671 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 9 8 -0.087840 0.045463 0.082505 0.068782 -0.132243 0.108297 0.982880 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 10 9 0.002294 -0.022731 0.028853 0.002143 -0.056935 -0.036759 0.997699 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 11 10 0.043246 -0.072984 -0.173207 -0.036085 0.181740 -0.073154 0.979958 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 12 11 -0.003854 -0.032497 -0.076753 -0.029944 0.127919 -0.019706 0.991137 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 13 12 0.003097 -0.110564 -0.060506 -0.001646 0.017986 0.018141 0.999672 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 14 13 -0.040398 0.020748 -0.137705 -0.008726 0.018350 0.060662 0.997952 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 15 14 -0.021570 0.136188 -0.110848 -0.072640 0.174810 0.082280 0.978466 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 16 15 0.009241 0.023954 -0.080933 -0.068462 0.173940 -0.002777 0.982370 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 16 17 -0.023399 -0.030579 0.097388 0.085205 -0.097313 -0.007362 0.991572 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 17 18 -0.036069 -0.021229 0.102638 0.065808 -0.116783 0.004865 0.990963 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 17 22 0.003141 -0.038048 -0.024594 0.025292 -0.040312 -0.007575 0.998838 3199.563708 0.000000 0.000000 0.000000 0.000000 0.000000 3199.563708 0.000000 0.000000 0.000000 0.000000 3199.563708 0.000000 0.000000 0.000000 319.575166 0.000000 0.000000 319.575166 0.000000 319.575166
EDGE_SE3:QUAT 17 23 -0.042113 -0.047022 -0.109096 -0.009967 0.000050 0.015297 0.999833 7009.795189 0.000000 0.000000 0.000000 0.000000 0.000000 7009.795189 0.000000 0.000000 0.000000 0.000000 7009.795189 0.000000 0.000000 0.000000 465.856876 0.000000 0.000000 465.856876 0.000000 465.856876
EDGE_SE3:QUAT 17 37 -0.018139 -0.027166 -0.048900 -0.001247 -0.000031 -0.011609 0.999932 8648.709459 0.000000 0.000000 0.000000 0.000000 0.000000 8648.709459 0.000000 0.000000 0.000000 0.000000 8648.709459 0.000000 0.000000 0.000000 268.962561 0.000000 0.000000 268.962561 0.000000 268.962561
EDGE_SE3:QUAT 17 38 -0.005585 -0.048293 0.048350 0.048379 -0.092150 -0.042132 0.993676 1947.203776 0.000000 0.000000 0.000000 0.000000 0.000000 1947.203776 0.000000 0.000000 0.000000 0.000000 1947.203776 0.000000 0.000000 0.000000 498.021935 0.000000 0.000000 498.021935 0.000000 498.021935
EDGE_SE3:QUAT 18 19 -0.040904 0.021768 0.087811 0.048598 -0.084106 0.050971 0.993965 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 18 22 0.007890 -0.034094 -0.136620 -0.040868 0.074279 -0.012648 0.996319 3740.373421 0.000000 0.000000 0.000000 0.000000 0.000000 3740.373421 0.000000 0.000000 0.000000 0.000000 3740.373421 0.000000 0.000000 0.000000 340.213747 0.000000 0.000000 340.213747 0.000000 340.213747
EDGE_SE3:QUAT 20 19 -0.004458 -0.037969 0.076465 0.026973 -0.052587 -0.028004 0.997859 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 21 20 -0.041873 0.018913 0.098097 0.050021 -0.084926 0.031489 0.994633 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 21 22 0.006045 -0.071415 -0.048184 0.001232 0.031728 -0.058120 0.997805 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 22 23 -0.051830 -0.010733 -0.078671 -0.035174 0.040686 0.022129 0.998307 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 22 37 -0.021721 0.008685 -0.026974 -0.027575 0.038200 -0.003617 0.998883 1753.670491 0.000000 0.000000 0.000000 0.000000 0.000000 1753.670491 0.000000 0.000000 0.000000 0.000000 1753.670491 0.000000 0.000000 0.000000 280.922239 0.000000 0.000000 280.922239 0.000000 280.922239
EDGE_SE3:QUAT 22 38 -0.002591 -0.010715 0.076858 0.022094 -0.051638 -0.032924 0.997878 3503.899437 0.000000 0.000000 0.000000 0.000000 0.000000 3503.899437 0.000000 0.000000 0.000000 0.000000 3503.899437 0.000000 0.000000 0.000000 352.154676 0.000000 0.000000 352.154676 0.000000 352.154676
EDGE_SE3:QUAT 23 24 -0.003489 0.020752 -0.059007 -0.030590 0.059885 0.003296 0.997731 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 23 37 0.024091 0.014184 0.060861 0.010004 0.000701 -0.025326 0.999629 1675.567605 0.000000 0.000000 0.000000 0.000000 0.000000 1675.567605 0.000000 0.000000 0.000000 0.000000 1675.567605 0.000000 0.000000 0.000000 340.213747 0.000000 0.000000 340.213747 0.000000 340.213747
EDGE_SE3:QUAT 23 40 0.002460 0.041785 0.065192 0.007720 -0.030384 0.028926 0.999090 6367.484383 0.000000 0.000000 0.000000 0.000000 0.000000 6367.484383 0.000000 0.000000 0.000000 0.000000 6367.484383 0.000000 0.000000 0.000000 329.410534 0.000000 0.000000 329.410534 0.000000 329.410534
EDGE_SE3:QUAT 25 24 -0.024224 -0.000666 0.035259 0.042766 -0.101107 0.012510 0.993877 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 26 25 -0.022349 -0.010743 0.102153 0.080909 -0.157914 -0.009266 0.984089 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 27 6 -0.042222 -0.008366 -0.017695 -0.005466 0.039805 0.080787 0.995921 44481.371303 0.000000 0.000000 0.000000 0.000000 0.000000 44481.371303 0.000000 0.000000 0.000000 0.000000 44481.371303 0.000000 0.000000 0.000000 186.342697 0.000000 0.000000 186.342697 0.000000 186.342697
EDGE_SE3:QUAT 27 26 -0.002886 -0.027537 0.092551 0.046730 -0.115042 -0.034011 0.991678 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 27 28 0.014249 -0.011225 -0.121774 -0.064667 0.138443 -0.012081 0.988183 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 28 29 0.053400 -0.025144 -0.113122 -0.071463 0.112716 -0.047555 0.989913 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 30 29 -0.044751 0.016938 0.060225 0.044685 -0.107569 0.042203 0.992296 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 31 30 -0.002451 0.002081 0.008232 0.007990 -0.026614 0.005680 0.999598 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 32 31 0.045456 -0.029913 -0.103324 -0.064708 0.121802 -0.050652 0.989147 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 33 28 -0.007791 -0.011967 -0.050502 -0.019615 0.031542 0.011559 0.999243 10607.918077 0.000000 0.000000 0.000000 0.000000 0.000000 10607.918077 0.000000 0.000000 0.000000 0.000000 10607.918077 0.000000 0.000000 0.000000 294.633733 0.000000 0.000000 294.633733 0.000000 294.633733
EDGE_SE3:QUAT 33 32 0.032226 -0.033285 -0.129583 -0.080974 0.155983 -0.040558 0.983599 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 34 5 -0.026780 -0.008506 -0.032752 -0.006573 0.056721 0.068986 0.995982 6563.035052 0.000000 0.000000 0.000000 0.000000 0.000000 6563.035052 0.000000 0.000000 0.000000 0.000000 6563.035052 0.000000 0.000000 0.000000 397.284071 0.000000 0.000000 397.284071 0.000000 397.284071
EDGE_SE3:QUAT 34 27 -0.007935 -0.011806 -0.071416 -0.010381 0.055064 0.010264 0.998376 33486.678914 0.000000 0.000000 0.000000 0.000000 0.000000 33486.678914 0.000000 0.000000 0.000000 0.000000 33486.678914 0.000000 0.000000 0.000000 498.021935 0.000000 0.000000 498.021935 0.000000 498.021935
EDGE_SE3:QUAT 34 33 0.015055 -0.008936 -0.152757 -0.058224 0.158138 -0.011915 0.985627 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 35 34 -0.007674 -0.005404 -0.095495 -0.039734 0.115381 0.005595 0.992510 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 36 16 -0.006015 0.008009 0.056008 -0.004407 -0.053266 -0.015788 0.998446 3138.622883 0.000000 0.000000 0.000000 0.000000 0.000000 3138.622883 0.000000 0.000000 0.000000 0.000000 3138.622883 0.000000 0.000000 0.000000 236.655492 0.000000 0.000000 236.655492 0.000000 236.655492
EDGE_SE3:QUAT 36 35 -0.006476 0.023185 -0.100633 -0.073342 0.117225 0.020201 0.990188 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 37 36 0.008673 0.026886 -0.110603 -0.080795 0.148222 0.027773 0.985257 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 38 18 -0.019746 0.035544 0.064945 0.021995 -0.019009 0.044492 0.998587 3574.224774 0.000000 0.000000 0.000000 0.000000 0.000000 3574.224774 0.000000 0.000000 0.000000 0.000000 3574.224774 0.000000 0.000000 0.000000 439.214046 0.000000 0.000000 439.214046 0.000000 439.214046
EDGE_SE3:QUAT 38 37 -0.030643 0.010738 -0.089485 -0.049678 0.093225 0.030646 0.993933 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 39 38 0.028942 -0.045298 -0.006136 -0.002326 0.028851 -0.061436 0.997691 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 40 21 0.028358 0.016101 0.069291 0.025667 -0.043437 0.009996 0.998676 3370.804801 0.000000 0.000000 0.000000 0.000000 0.000000 3370.804801 0.000000 0.000000 0.000000 0.000000 3370.804801 0.000000 0.000000 0.000000 249.010936 0.000000 0.000000 249.010936 0.000000 249.010936
EDGE_SE3:QUAT 40 22 0.038828 -0.043444 0.016856 0.026440 -0.011043 -0.050897 0.998293 1180.103265 0.000000 0.000000 0.000000 0.000000 0.000000 1180.103265 0.000000 0.000000 0.000000 0.000000 1180.103265 0.000000 0.000000 0.000000 498.021935 0.000000 0.000000 498.021935 0.000000 498.021935
EDGE_SE3:QUAT 40 39 0.006122 -0.007300 0.087904 0.041649 -0.098181 -0.025890 0.993960 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 41 17 0.006901 0.050905 0.072458 0.011005 -0.000747 -0.020947 0.999720 2051.479894 0.000000 0.000000 0.000000 0.000000 0.000000 2051.479894 0.000000 0.000000 0.000000 0.000000 2051.479894 0.000000 0.000000 0.000000 280.922239 0.000000 0.000000 280.922239 0.000000 280.922239
EDGE_SE3:QUAT 41 23 -0.035552 0.010540 -0.036258 -0.000286 -0.000713 -0.006749 0.999977 9152.739889 0.000000 0.000000 0.000000 0.000000 0.000000 9152.739889 0.000000 0.000000 0.000000 0.000000 9152.739889 0.000000 0.000000 0.000000 498.021935 0.000000 0.000000 498.021935 0.000000 498.021935
EDGE_SE3:QUAT 41 40 -0.031441 0.050983 0.032587 0.007214 -0.029407 0.022883 0.999280 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000
EDGE_SE3:QUAT 42 41 -0.027139 0.022007 0.008731 0.011618 -0.006426 0.030439 0.999448 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 1000000.000000 0.000000 0.000000 1000000.000000 0.000000 1000000.000000

EDIT: Just realized we cannot get the orientation of the tag, just the position with g2o format.

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

How to get the coordinates and ID of AprilTag markers #1146

{{title}}

Replies: 1 comment 3 replies

{{title}}

{{title}}

{{title}}

{{title}}

{{editor}}'s edit

{{editor}}'s edit

Select a reply

How to get the coordinates and ID of AprilTag markers #1146

takanotume24 Oct 18, 2023

Replies: 1 comment · 3 replies

matlabbe Oct 18, 2023 Maintainer

takanotume24 Oct 19, 2023 Author

takanotume24 Oct 20, 2023 Author

matlabbe Oct 21, 2023 Maintainer

takanotume24
Oct 18, 2023

Replies: 1 comment 3 replies

matlabbe
Oct 18, 2023
Maintainer

takanotume24 Oct 19, 2023
Author

takanotume24 Oct 20, 2023
Author

matlabbe Oct 21, 2023
Maintainer