Add tagfamily 52H13Standard

[Mahroo]

Dear Bernd, 

I want to add tagfamily 52H13Standard, and I was wondering what steps do I need to take?

Best, 

Mahroo 

[Bernd Pfrommer]

Mahroo, I just added the tag family to the detector. You will still need to change the tag family to "4" in your detector launch file (and the detector to UMich).

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[Mahroo]

Thank you so much! will check that. 

[Mahroo]

I rerun my code after pulling the apriltag changes, however, I got this error:

[ERROR] [1677250508.808165722]: invalid tag family!
[ERROR] [1677250508.808804314]: /sync_and_detect: invalid tag family!

[Mahroo]

It causes by this function.
but I am not sure what is payload_ doing and what is the correct value to return for tagfamily52h13 

[Bernd Pfrommer]

Sorry, forgot to update this one:

https://github.com/berndpfrommer/tagslam/blob/master/src/sync_and_detect.cpp

Can you add the missing line?

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[Mahroo]

Yes, I'll fix that, thank you so much.
But that would be great if you can briefly explain what does the variable payload mean and do?

Best, 

Mahroo 

[Bernd Pfrommer]

It used to be the number of bits of the range of ids. So payload a payload of 4 would mean 2^4 = 16, so you could have ids from 0...15.

I don't think this field is useful anymore. I don't know of any downstream software that uses it.

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