README
¶
apriltag
Description
Apriltags image recognition for Go.
Uses Cgo, but does not require any libraries or dependencies.
This is a fork of go get github.com/twitchyliquid64/go-apriltag that fixes a few bugs and adds a tutorial.
Installation
This package can be installed with the go get command:
go get github.com/koeng101/go-apriltag
NOTE: Make sure cgo works on your system.
Only tested on Linux, but should work (or need trivial modifications) to work on other platforms.
Documentation
API documentation can be found here: http://godoc.org/github.com/koeng101/apriltag
Trivial example, finding apriltags in a PNG:
detector := apriltag.New()
defer detector.Close()
f, err := os.Open("testtags.png")
if err != nil {
t.Fatal(err)
}
defer f.Close()
img, err := png.Decode(f)
if err != nil {
t.Fatal(err)
}
findings := detector.Find(ImgToGrayscale(img)) // list of discovered tags
// If you want you can draw boxes around the tags
center := color.RGBA{R: 255, G: 0, B: 0, A: 255}
corner := color.RGBA{R: 0, G: 255, B: 0, A: 255}
apriltag.DrawFindings(img.(*image.RGBA), findings, center, corner)
Bug Fixes
- In
common/image_f32.cthe variableHUGEwas undeclared. This code is never actually used, so I just deleted it. -fno-strict-overflowwasn't required and removal let you do a classicgo testfor testing purposes.
License
In this repository, those files are an amalgamation of code that was copied from Apriltag. The license of that code is the same as the license of Apriltag. Apriltag copyright notices remain intact as per license requirements.
For all non-Apriltag code, consider the license text as per the LICENSE file.
Documentation
¶
Overview ¶
Example (Basic) ¶
package main
import (
"fmt"
"github.com/koeng101/apriltag"
"image/png"
"os"
)
func main() {
detector := apriltag.New()
f, _ := os.Open("testtags.png")
img, _ := png.Decode(f)
findings := detector.Find(apriltag.ImgToGrayscale(img))
fmt.Println(findings[0].Corners)
}
Output: [[3.874999999998289 88.91883850097827] [83.87499999999712 88.8625869750948] [83.87500000000203 9.199375152585876] [3.8750000000025526 8.799375534060175]]
Index ¶
Examples ¶
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
func DrawFindings ¶
func DrawFindings(img WritableImage, findings []Finding, centerColor, cornerColor color.Color)
DrawFindings draws all found apriltags on the provided image.
Types ¶
type Detector ¶
type Detector struct {
// contains filtered or unexported fields
}
Detector encapsulates an apriltag detector initialized with a tag family.
type Finding ¶
type Finding struct {
// The decoded ID of the tag
ID int
// The number of error bits that were corrected.
Hamming int
Goodness float32
// A measure of the quality of the binary decoding process. Higher == better.
DecisionMargin float32
// Centeroid of the detected tag
CenterX float64
CenterY float64
// Bounding edges of the detected tag. [0] = X, [1] = Y.
Corners [4][2]float64
}
Finding represents a single apriltag detected in an image.
Source Files