ubiquity6 / apriltag Goto Github PK
View Code? Open in Web Editor NEWThis project forked from openmv/apriltag
Tracking Repository
Home Page: https://april.eecs.umich.edu/software/apriltag.html
This project forked from openmv/apriltag
Tracking Repository
Home Page: https://april.eecs.umich.edu/software/apriltag.html
INSTALL ======= The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig. $ make $ sudo make install To install to a different directory than /usr/local: $ PREFIX=/some/path sudo make install USAGE ===== A basic AprilTag application can be seen in example/apriltag_demo.c. Initialization: instantiate a detector and at least one tag family. apriltag_detector_t *td = apriltag_detector_create(); apriltag_family_t *tf = tag36h11_create(); apriltag_detector_add_family(td, tf); Some tag detector parameters can be set at this time. The default parameters are the recommended starting point. td->quad_decimate = 1.0; td->quad_sigma = 0.0; td->refine_edges = 1; td->refine_decode = 0; td->refine_pose = 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: a single one-line call will process an input image and return a list of detections. zarray_t *detections = apriltag_detector_detect(td, im); for (int i = 0; i < zarray_size(detections); i++) { apriltag_detection_t *det; zarray_get(detections, i, &det); // Do something with det here } apriltag_detections_destroy(detections); zarray is a container class which is included with apriltag. To process through the list of detections, use zarray_get, as illustrated above. The caller is responsible for freeing detections by calling apriltag_detections_destroy(). Cleanup: free the detector and tag family when done. apriltag_detector_destroy(td); tag36h11_destroy(tf); OPENCV INTEGRATION ================== Note that this library has no external dependencies. Most applications will require, at minimum, a method for acquiring images. See example/opencv_demo.cc for an example of using AprilTag in C++ with OpenCV. This example application can be built by executing the following: $ cd examples $ make opencv_demo Image data in a cv::Mat object can be passed to AprilTag without creating a deep copy. Simply create an image_u8_t header for the cv::Mat data buffer: cv::Mat img; image_u8_t img_header = { .width = img.cols, .height = img.rows, .stride = img.cols, .buf = img.data };
A declarative, efficient, and flexible JavaScript library for building user interfaces.
๐ Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. ๐๐๐
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google โค๏ธ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.