-
 

apriltag_mit package from apriltag_mit repo

apriltag_mit

Package Summary

Tags No category tags.
Version 1.1.2
License LGPLv2.1
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-misc-utilities/apriltag_mit.git
VCS Type git
VCS Version humble
Last Updated 2024-04-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2 package wrapper for the MIT apriltag detector

Additional Links

No additional links.

Maintainers

  • Bernd Pfrommer

Authors

  • Michael Kaess
AprilTags library

Detect April tags (2D bar codes) in images; reports unique ID of each
detection, and optionally its position and orientation relative to a
calibrated camera.

See examples/apriltags_demo.cpp for a simple example that detects
April tags (see tags/pdf/tag36h11.pdf) in laptop or webcam images and
marks any tags in the live image.

Ubuntu dependencies:
sudo apt-get install subversion cmake libopencv-dev libeigen3-dev libv4l-dev

Mac dependencies:
sudo port install pkgconfig opencv eigen3

Uses the pods build system in connection with cmake, see:
http://sourceforge.net/p/pods/

Michael Kaess
October 2012

----------------------------

AprilTags were developed by Professor Edwin Olson of the University of
Michigan.  His Java implementation is available on this web site:
  http://april.eecs.umich.edu.

Olson's Java code was ported to C++ and integrated into the Tekkotsu
framework by Jeffrey Boyland and David Touretzky.

See this Tekkotsu wiki article for additional links and references:
  http://wiki.tekkotsu.org/index.php/AprilTags

----------------------------

This C++ code was further modified by
Michael Kaess (kaess@mit.edu) and Hordur Johannson (hordurj@mit.edu)
and the code has been released under the LGPL 2.1 license.

- converted to standalone library
- added stable homography recovery using OpenCV
- robust tag code table that does not require a terminating 0
  (omission results in false positives by illegal codes being accepted)
- changed example tags to agree with Ed Olson's Java version and added
  all his other tag families
- added principal point as parameter as in original code - essential
  for homography
- added some debugging code (visualization using OpenCV to show
  intermediate detection steps)
- added fast approximation of arctan2 from Ed's original Java code
- using interpolation instead of homography in Quad: requires less
  homography computations and provides a small improvement in correct
  detections

todo:
- significant speedup could be achieved by performing image operations
  using OpenCV (Gaussian filter, but also operations in
  TagDetector.cc)
- replacing arctan2 by precomputed lookup table
- converting matrix operations to Eigen (mostly for simplifying code,
  maybe some speedup)


CHANGELOG

Changelog for package apriltag_mit

1.1.2 (2024-04-21)

  • Initial release of ROS2 package
  • Contributors: Michael Kaess, Chao Qu, Bernd Pfrommer

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged apriltag_mit at Robotics Stack Exchange

apriltag_mit package from apriltag_mit repo

apriltag_mit

Package Summary

Tags No category tags.
Version 1.2.2
License LGPLv2.1
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-misc-utilities/apriltag_mit.git
VCS Type git
VCS Version iron
Last Updated 2024-04-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2 package wrapper for the MIT apriltag detector

Additional Links

No additional links.

Maintainers

  • Bernd Pfrommer

Authors

  • Michael Kaess
AprilTags library

Detect April tags (2D bar codes) in images; reports unique ID of each
detection, and optionally its position and orientation relative to a
calibrated camera.

See examples/apriltags_demo.cpp for a simple example that detects
April tags (see tags/pdf/tag36h11.pdf) in laptop or webcam images and
marks any tags in the live image.

Ubuntu dependencies:
sudo apt-get install subversion cmake libopencv-dev libeigen3-dev libv4l-dev

Mac dependencies:
sudo port install pkgconfig opencv eigen3

Uses the pods build system in connection with cmake, see:
http://sourceforge.net/p/pods/

Michael Kaess
October 2012

----------------------------

AprilTags were developed by Professor Edwin Olson of the University of
Michigan.  His Java implementation is available on this web site:
  http://april.eecs.umich.edu.

Olson's Java code was ported to C++ and integrated into the Tekkotsu
framework by Jeffrey Boyland and David Touretzky.

See this Tekkotsu wiki article for additional links and references:
  http://wiki.tekkotsu.org/index.php/AprilTags

----------------------------

This C++ code was further modified by
Michael Kaess (kaess@mit.edu) and Hordur Johannson (hordurj@mit.edu)
and the code has been released under the LGPL 2.1 license.

- converted to standalone library
- added stable homography recovery using OpenCV
- robust tag code table that does not require a terminating 0
  (omission results in false positives by illegal codes being accepted)
- changed example tags to agree with Ed Olson's Java version and added
  all his other tag families
- added principal point as parameter as in original code - essential
  for homography
- added some debugging code (visualization using OpenCV to show
  intermediate detection steps)
- added fast approximation of arctan2 from Ed's original Java code
- using interpolation instead of homography in Quad: requires less
  homography computations and provides a small improvement in correct
  detections

todo:
- significant speedup could be achieved by performing image operations
  using OpenCV (Gaussian filter, but also operations in
  TagDetector.cc)
- replacing arctan2 by precomputed lookup table
- converting matrix operations to Eigen (mostly for simplifying code,
  maybe some speedup)


CHANGELOG

Changelog for package apriltag_mit

1.2.2 (2024-04-21)

  • Initial release of ROS2 package
  • Contributors: Michael Kaess, Chao Qu, Bernd Pfrommer

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged apriltag_mit at Robotics Stack Exchange

apriltag_mit package from apriltag_mit repo

apriltag_mit

Package Summary

Tags No category tags.
Version 1.0.2
License LGPLv2.1
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-misc-utilities/apriltag_mit.git
VCS Type git
VCS Version rolling
Last Updated 2024-04-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2 package wrapper for the MIT apriltag detector

Additional Links

No additional links.

Maintainers

  • Bernd Pfrommer

Authors

  • Michael Kaess
AprilTags library

Detect April tags (2D bar codes) in images; reports unique ID of each
detection, and optionally its position and orientation relative to a
calibrated camera.

See examples/apriltags_demo.cpp for a simple example that detects
April tags (see tags/pdf/tag36h11.pdf) in laptop or webcam images and
marks any tags in the live image.

Ubuntu dependencies:
sudo apt-get install subversion cmake libopencv-dev libeigen3-dev libv4l-dev

Mac dependencies:
sudo port install pkgconfig opencv eigen3

Uses the pods build system in connection with cmake, see:
http://sourceforge.net/p/pods/

Michael Kaess
October 2012

----------------------------

AprilTags were developed by Professor Edwin Olson of the University of
Michigan.  His Java implementation is available on this web site:
  http://april.eecs.umich.edu.

Olson's Java code was ported to C++ and integrated into the Tekkotsu
framework by Jeffrey Boyland and David Touretzky.

See this Tekkotsu wiki article for additional links and references:
  http://wiki.tekkotsu.org/index.php/AprilTags

----------------------------

This C++ code was further modified by
Michael Kaess (kaess@mit.edu) and Hordur Johannson (hordurj@mit.edu)
and the code has been released under the LGPL 2.1 license.

- converted to standalone library
- added stable homography recovery using OpenCV
- robust tag code table that does not require a terminating 0
  (omission results in false positives by illegal codes being accepted)
- changed example tags to agree with Ed Olson's Java version and added
  all his other tag families
- added principal point as parameter as in original code - essential
  for homography
- added some debugging code (visualization using OpenCV to show
  intermediate detection steps)
- added fast approximation of arctan2 from Ed's original Java code
- using interpolation instead of homography in Quad: requires less
  homography computations and provides a small improvement in correct
  detections

todo:
- significant speedup could be achieved by performing image operations
  using OpenCV (Gaussian filter, but also operations in
  TagDetector.cc)
- replacing arctan2 by precomputed lookup table
- converting matrix operations to Eigen (mostly for simplifying code,
  maybe some speedup)


CHANGELOG

Changelog for package apriltag_mit

1.0.2 (2024-04-21)

  • Initial release of ROS2 package
  • Contributors: Michael Kaess, Chao Qu, Bernd Pfrommer

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged apriltag_mit at Robotics Stack Exchange

apriltag_mit package from apriltag_mit repo

apriltag_mit

Package Summary

Tags No category tags.
Version 1.0.2
License LGPLv2.1
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-misc-utilities/apriltag_mit.git
VCS Type git
VCS Version rolling
Last Updated 2024-04-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2 package wrapper for the MIT apriltag detector

Additional Links

No additional links.

Maintainers

  • Bernd Pfrommer

Authors

  • Michael Kaess
AprilTags library

Detect April tags (2D bar codes) in images; reports unique ID of each
detection, and optionally its position and orientation relative to a
calibrated camera.

See examples/apriltags_demo.cpp for a simple example that detects
April tags (see tags/pdf/tag36h11.pdf) in laptop or webcam images and
marks any tags in the live image.

Ubuntu dependencies:
sudo apt-get install subversion cmake libopencv-dev libeigen3-dev libv4l-dev

Mac dependencies:
sudo port install pkgconfig opencv eigen3

Uses the pods build system in connection with cmake, see:
http://sourceforge.net/p/pods/

Michael Kaess
October 2012

----------------------------

AprilTags were developed by Professor Edwin Olson of the University of
Michigan.  His Java implementation is available on this web site:
  http://april.eecs.umich.edu.

Olson's Java code was ported to C++ and integrated into the Tekkotsu
framework by Jeffrey Boyland and David Touretzky.

See this Tekkotsu wiki article for additional links and references:
  http://wiki.tekkotsu.org/index.php/AprilTags

----------------------------

This C++ code was further modified by
Michael Kaess (kaess@mit.edu) and Hordur Johannson (hordurj@mit.edu)
and the code has been released under the LGPL 2.1 license.

- converted to standalone library
- added stable homography recovery using OpenCV
- robust tag code table that does not require a terminating 0
  (omission results in false positives by illegal codes being accepted)
- changed example tags to agree with Ed Olson's Java version and added
  all his other tag families
- added principal point as parameter as in original code - essential
  for homography
- added some debugging code (visualization using OpenCV to show
  intermediate detection steps)
- added fast approximation of arctan2 from Ed's original Java code
- using interpolation instead of homography in Quad: requires less
  homography computations and provides a small improvement in correct
  detections

todo:
- significant speedup could be achieved by performing image operations
  using OpenCV (Gaussian filter, but also operations in
  TagDetector.cc)
- replacing arctan2 by precomputed lookup table
- converting matrix operations to Eigen (mostly for simplifying code,
  maybe some speedup)


CHANGELOG

Changelog for package apriltag_mit

1.0.2 (2024-04-21)

  • Initial release of ROS2 package
  • Contributors: Michael Kaess, Chao Qu, Bernd Pfrommer

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged apriltag_mit at Robotics Stack Exchange

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