Hopefully this is the right place to ask about this.
I'm working on adding external landmark support to depthai v3's RTABMapSLAM node. This involves having another node detect a landmark (in my case, apriltags) and then send data about that landmark to rtabmap.
I am trying to figure out what the message datatype should look like to conform with the existing code style.
Psudocode of the message type:
struct Landmark {
id: uint,
size: uint (in meters),
pose: TransformData (do I use the existing transform data class or do I reimplment it}
covariance: ?? (probably not going to add this right now, might add it later if it is needed or useful)
)
The main thing I am confused about is pose. Should I somehow use the existing TransformData datatype or should I reimplement its functionality. Should I even be creating a new datatype or should I be doing something else.
Note that the existing apriltag datatype will not work since it does not solve for the pose of the apriltag. At some point I hope to contribute a host node to add that functionality to dai core but for now I'm still testing on my own projects.
I hope this question makes sense. This is my first time contributing to depthai core so I'm still figuring out some of the conventions. Any help would be appreciated.
Thanks in advance.
