cu-apriltag

Apriltag detection

Allows to detect and get the pose out of CuImages. They need to be 8bits and with high contrast (see the dynamic thresholding task).

Configuration

In the Ron file you need to specify the tag family, the tag size and the camera intrinsics.:

    tasks: [
        (
            id: "pos",
            type: "cu_apriltag::AprilTags",
            config: {
            "tag_family": "tag16h5",
            "tag_size": 0.14,
            "fx": 1513.93,
            "fy": 1513.93,
            "cx": 946.84,
            "cy": 557.819,
            },
        ),
    ]

Input

• CuImage (required): The CuImage to detect the apriltag on. It should be 8bits and with high contrast.

Output

• Pose: The pose of the detected apriltag in the camera frame of reference (4x4 matrix).