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AprilTags

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codecov.io

This package is a ccall wrapper for the AprilTags library tailored for Julia.

Installation

AprilTags.jl can be installed in Julia 0.6 with:

Pkg.add("AprilTags")

Usage

Examples

See examples and test folder for basic AprilTag usage examples.

Initialization

Initialize a detector with the default (tag36h11) tag family.

# Create default detector
detector = AprilTagDetector()

Some tag detector parameters can be set at this time. The default parameters are the recommended starting point.

AprilTags.setnThreads(detector, 4)
AprilTags.setquad_decimate(detector, 1.0)
AprilTags.setquad_sigma(detector,0.0)
AprilTags.setrefine_edges(detector,1)
AprilTags.setrefine_decode(detector,0)
AprilTags.setrefine_pose(detector,0)

Increase the image decimation if faster processing is required; the trade-off is a slight decrease in detection range. A factor of 1.0 means the full-size input image is used.

Some Gaussian blur (quad_sigma) may help with noisy input images.

Detection

Process an input image and return a vector of detections. The input image can be loaded with the Images package.

image = load("example_image.jpg")
tags = detector(image)
#do something with tags here

The caller is responsible for freeing the memmory by calling

freeDetector!(detector)

Manual Outline