AprilTagDetector(tagfamily=tag36h11)

Create a default AprilTag detector with the 36h11 tag family Create an AprilTag detector with tag family in tagfamily::TagFamilies @enum TagFamilies tag36h11 tag36h10 tag25h9 tag16h5

freeDetector!(apriltagdetector)

Free the allocated memmory

homography_to_pose(H, fx, fy, cx, cy)

Given a 3x3 homography matrix and the camera model (focal length and centre), compute the pose of the tag. The focal lengths should be given in pixels

drawTagBox!(image, tag)

Draw a box around the tag. imageCol = RGB.(image) foreach(tag->drawTagBox!(imageCol, tag), tags)

drawTagAxes!(image, tag, CameraMatrix)

Draw the tag x, y, and z axes to show the orientation. imageCol = RGB.(image) foreach(tag->drawTagAxes!(imageCol, tag, K), tags)

apriltag_detector_create()

Create a AprilTag Detector object with all fields set to default value.

tag36h11_create()

Create a AprilTag family object for tag36h11 with all fields set to default value.

tag36h11_destroy(tf)

Destroy the AprilTag family object.

apriltag_detector_add_family(tag_detector, tag_family)

Add a tag family to an AprilTag Detector object. The caller still "owns" the family and a single instance should only be provided to one apriltag detector instance.

apriltag_detector_detect(tag_detector, image)

Detect tags from an image and return an array of apriltag_detection_t*. You can use apriltag_detections_destroy to free the array and the detections it contains, or call detection_destroy and zarray_destroy yourself.

getAprilTagImage(tagIndex, tagfamily=tag36h11)

Return an image [Gray{N0f8}] for with tagIndex from tag family in tagfamily::TagFamilies @enum TagFamilies tag36h11 tag36h10 tag25h9 tag16h5