Awesome
MATLAB_AprilTag3
The AprilTag3 MEX wrapper for MATLAB on Linux implements tag detection and 3–D pose estimation. <br /> N.B.: Only the tag family ''tag36h11'' is supported! <br />
Please cite this software if you use MATLAB_AprilTag3 in your research: <br /> [1] A. A. Díaz Salazar, "MATLAB_AprilTag3", Linköping, Sweden, 2019. Online.
Procedure
Read PROCEDURE.md for install instructions. <br />
The MEX function "apriltags.c" implements AprilTag3 detection and 3–D pose estimation (April 2019 version) and contains a MAJOR FIX to prevent deallocation of uninitialized memory. <br /> AprilRobotics guide: https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide
Demo
Example
Run help apriltags for syntax details.
im_rgb = imread("my_RGB_image.png");
IM = rgb2gray(im_rgb);
tags = apriltags(IM, TAGSIZE, K);
Inputs: <br /> IM is a grayscale image. <br /> TAGSIZE specifies the actual (printed!) tag size in meters. <br /> K specifies camera calibration as a 3x3 matrix defined by K = [fx 0 u0; 0 fy v0; 0 0 1] where (fx, fy) is the focal length and (u0, v0) is the principal point (optical center). <br /> Outputs: <br /> tags is a vector of structures with the parameters of the AprilTags found in IM. <br />
Acknowledgments
Basic MEX infrastructure by Peter Corke given in the Machine Vision Toolbox for MATLAB. <br /> MEX fix provided by Gustaf Hendeby.
References
[1] A. A. Díaz Salazar, "MATLAB_AprilTag3", Linköping, Sweden, 2019. Online. <br /> [2] M. Krogius, A. Haggenmiller, and E. Olson, “Flexible Layouts for Fiducial Tags”, In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 1898–1903. DOI: 10.1109/IROS40897.2019.8967787.<br /> [3] P. Corke, The Machine Vision Toolbox: a MATLAB toolbox for vision and vision-based control, In: IEEE Robotics and Automation Magazine, vol. 12(4), 2005, pp. 16–25. DOI: 10.1109/MRA.2005.1577021.<br /> [4] P. Corke, MATLAB toolboxes: robotics and vision for students and teachers, In: IEEE Robotics and Automation Magazine, vol. 14(4), 2007, pp. 16–17. DOI: 10.1109/M-RA.2007.912004.