Can I start get metric_pose earlier?

[neliudochka]

I've collected a dataset with a set of rosbags. Each rosbag starts with an apriltag detection. The problem is that I it takes too long for a metric_pose to be published and the apriltag detection isn't performed. Is it possible to change the time that takes metric_pose to be initialized?

P.S.

1. Usage of the unscaled_pose is not an option.
2. I can't rerecord my dataset.

Thanks in advance!

[lukasvst]

You could try increasing the uncertainty thresholds a bit: init_coarseScaleUncertaintyThresh and init_pgba_scaleUncertaintyThresh
But in general you will need sufficient motion so that your scale becomes observable, before the metric pose can be published.