WIP: Apriltag

MR open while Gitflow transition

It can stay open until big merge in the future

src/examples/maps/map_apriltag_logitech_1234.yaml

@@ -3,8 +3,8 @@ map name: "4 tags printed on a A4 sheet vertical recorded at IRI with logitech w
 nlandmarks: 4          # This must match the number of landmarks in the list that follows. Otherwise it is an error.
 
 ######################
-# World frame is considered to be at 75cm from the sheet with RDF convention (like a camera). 
-# Landmarks facing the Z axis (view axis of the camera) have the same orientation as world frame.
+# World frame is considered to be the top left corner of tag id 0. Reference frame is corherent with a camera
+# looking straight at the sheet with RBF convention.
 ######################
 landmarks:
 
@@ -12,7 +12,7 @@ landmarks:
     type: "APRILTAG"          # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
     tag id: 0
     tag width: 0.055
-    position: [-0.061, -0.185, 0.75]
+    position: [0.0225, 0.0225, 0]
     orientation: [0, 0, 0]    # roll pitch yaw in degrees
     position fixed: true
     orientation fixed: true
@@ -21,7 +21,7 @@ landmarks:
     type: "APRILTAG"          # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
     tag id: 1
     tag width: 0.055
-    position: [0.061, -0.185, 0.75]
+    position: [0.1525, 0.0225, 0]
     orientation: [0, 0, 0]    # roll pitch yaw in degrees
     position fixed: true
     orientation fixed: true
@@ -30,7 +30,7 @@ landmarks:
     type: "APRILTAG"          # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
     tag id: 2
     tag width: 0.055
-    position: [-0.061, 0, 0.75]
+    position: [0.0225, 0.2125, 0]
     orientation: [0, 0, 0]    # roll pitch yaw in degrees
     position fixed: true
     orientation fixed: true
@@ -39,7 +39,7 @@ landmarks:
     type: "APRILTAG"          # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
     tag id: 3
     tag width: 0.055
-    position: [0.061, 0, 0.75]
+    position: [0.1525, 0.2125, 0]
     orientation: [0, 0, 0]    # roll pitch yaw in degrees
     position fixed: true
     orientation fixed: true