install apriltag detection: https://github.com/pupil-labs/apriltags.git
cd /path/to/scripts
chmod +x optimize_class.py
- Test can be run as
./optimize_class.py
uses poses_ex.txt (list of detected target positions in camera frame) and tfs_ex.txt (list of e.g. marker poses in global frame)
does optimization from zero initial guess and one manual
- to do dataset collection, setup stuff in sync.py (global frame, marker frame in /tf, camera topics) run the node
when camera set into a new pose (where target is visible) pub a message to topic /record_apriltag when enough poses are recorded (e.g.5-10), pub a msg to /apriltags_done. This saves the poses and tfs files
now you can run optimize_class