apriltag 0.0.11

apriltag marker detection

Apriltag

apriltag marker detection based on https://github.com/swatbotics/apriltag

Dependencies

• OpenCV (optional)

Example

import apriltag
import cv2
img = cv2.imread('apriltag_foto.jpg'.cv2.IMREAD_GRAYSCALE)
detector = apriltag.Detector()

result = detector.detect(img)

result is in the form of

[DetectionBase(tag_family='tag36h11', tag_id=2, hamming=0, goodness=0.0, decision_margin=98.58241271972656, homography=array([[ -1.41302664e-01,   1.08428082e+00,   1.67512900e+01],
   [ -8.75899366e-01,   1.50245469e-01,   1.70532040e+00],
   [ -4.89183533e-04,   2.12210247e-03,   6.02052342e-02]]), center=array([ 278.23643912,   28.32511859]), corners=array([[ 269.8939209 ,   41.50381088],
   [ 269.57183838,   11.79248142],
   [ 286.1383667 ,   15.84242821],
   [ 286.18066406,   43.48323059]])),
DetectionBase(tag_family='tag36h11', ... etc

Multiple options can be specified to tune the detection performance:

options = apriltag.Detectoroptions(families='tag36h11', border=1, nthreads=4, quad_decimate=1.0, quad_blur=0.0, refine_edges=True, refine_decode=False, refine_pose=False, debug=False, quad_contours=True) detector = apriltag.Detector() result = detector.detect(img)

.