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apriltag

A collection of apriltag libraries and a ros node. Note: there is now a ROS2 (foxy) branch.

How to build

Clone this repo into the "src" directory of a ROS workspace, including submodules, and build:

catkin config -DCMAKE_BUILD_TYPE=Release
cd src
git clone --recursive https://github.com/versatran01/apriltag.git
catkin build

apriltag_mit

a c++ library from http://people.csail.mit.edu/kaess/apriltags/

apriltag_umich

a c library from http://april.eecs.umich.edu/wiki/index.php/AprilTags

To decide which detector to use, have a look at the performance comparison of UMich vs MIT detectors.

apriltag_ros

a ros node for detecting apriltag.

Detect apriltags in image topic ~image

roslaunch apriltag_ros apriltag_detector_node.launch camera:=camera

Detect apriltags in images

rosrun apriltag_ros apriltag_detect image1.png image2.png -t 0 -b 2

apriltag_msgs

apriltag ros messages

license

This software and any future contributions to it are licensed under the Apache License 2.0.

Note: Michael Kaess's code under apriltag_mit is covered by a GPL V2 license.

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  • C++ 66.4%
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