https://github.com/aprilrobotics/apriltag-generation
Generate AprilTags in custom layouts
https://github.com/aprilrobotics/apriltag-generation
Last synced: 6 months ago
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Generate AprilTags in custom layouts
- Host: GitHub
- URL: https://github.com/aprilrobotics/apriltag-generation
- Owner: AprilRobotics
- Created: 2018-09-18T23:01:10.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2022-03-27T04:28:47.000Z (about 3 years ago)
- Last Synced: 2024-12-09T13:41:07.793Z (6 months ago)
- Language: Java
- Size: 1.28 MB
- Stars: 155
- Watchers: 13
- Forks: 46
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
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README
AprilTag-Generation
===================
Generate AprilTags in custom layouts for [AprilTag 3](https://github.com/AprilRobotics/apriltag-generation).
# How to use the package
First, you will need to generate the code associated with the layout of your marker :
~~~
ant
java -cp april.jar april.tag.TagFamilyGenerator
~~~
The choices of layout are :
- standard_x, new-style april tag with one pixel of data on the outside
- classic_x, old-style april tag
- circle_x, for circular april tag
- custom_[...]. For more details about this last one, please check https://github.com/AprilRobotics/apriltag-generation/blob/master/src/april/tag/TagFamilyGenerator.java
With x the size of the tag (in pixels). The smaller is x, the faster the generation is.
You will have as output into the terminal a string, starting from "package april.tag;" and ending at the end of the terminal.
This string is your new code that will be use for generating your markers. Save it into a .java file (ex : TagStandard20h9.java), into src/april/tag.
Then, execute :
~~~
ant
~~~
Next, you can use this command to generate the C code associated with the marker :
~~~
java -cp april.jar april.tag.TagToC april.tag.
~~~
Or generate your new markers as .png :
~~~
java -cp april.jar april.tag.GenerateTags april.tag. .
~~~
NB : If the format of the markers is very small (ex : by default, 9x9 pixels), you'll need to rescale them. To do so, you may use the following command (Unix) :
~~~
convert .png -scale % .png
~~~
# Example usage for generating the 21h7 circular tag family:
```
$ ant
$ java -cp april.jar april.tag.TagFamilyGenerator circle_9 7
```
Then to generate the c code and tag images after copying the output into the source folder:
```
$ ant
$ java -cp april.jar april.tag.TagToC april.tag.TagCircle21h7
$ java -cp april.jar april.tag.GenerateTags april.tag.TagCircle21h7 .
```