apriltag_mit package from apriltag_mit repoapriltag_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
Name | Deps |
---|---|
apriltag_detector_mit |
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 repoapriltag_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
Name | Deps |
---|---|
apriltag_detector_mit |
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 repoapriltag_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
Name | Deps |
---|---|
apriltag_detector_mit |
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 repoapriltag_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
Name | Deps |
---|---|
apriltag_detector_mit |
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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