apriltags 0.0.2

apriltags marker detection

apriltag
========

Small modifications/additions to http://april.eecs.umich.edu/media/apriltag/apriltag-2015-03-18.tgz

Added a new quad detector and a few various speedups.

Dependencies
============

- OpenCV (optional)

Building
========

cd /path/to/apriltag
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

Running
=======

You can run `aprilag_opencv_demo` to do stuff, run with `-h` to get help.

So for example, you can run

./apriltag_opencv_demo -B ../images/mapping_feb_2014/*.JPG
./apriltag_opencv_demo -B -c ../images/mapping_feb_2014/*.JPG

to benchmark the new code against the old code.

Use from python
===============

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