[Feature-Request] Enable use of markers in RTABMapSLAM node

[viggy96]

Start with the why:

This would allow for increased SLAM accuracy, as well as being able to provide a pose in the reference frame of the world, as opposed to just relative to where the SLAM process started.

Move to the what:

Enabling the proper features in RTABMap and its dependencies in the depthai-core source to enable marker related params to work correctly.

Move to the how:

Probably involves enabling dependencies like opencv-contrib for RTABMap, and testing out params in the RTABMapSLAM examples. Might be more involved than this.

            "RGBD/MarkerDetection": "true",
            "Marker/Length": "0.17145",
            "Marker/Dictionary": "20",
            "Marker/Priors": "10 1.0 1.0 1.0 0.0 0.0 0.0"

[viggy96]

Started looking into this myself, any advice is appreciated.

[moratom]

We're not yet putting our full focus on VSLAM, but we're happy to accept PRs with improvements, if you manage to get the markers as reference points working @viggy96 !