AprilTag Detector

Sean M. Messenger

Mayelana nalolu hlelo lokusebenza

Lolu hlelo lokusebenza luhlinzeka ngokusebenza okubalulekile kokutholwa kwe-apriltag ngokuqondile kusuka ku-APRIL Robotics Lab alumni. Isekela yonke imindeni yamathegi apriltag2. Izilungiselelo eziguqulekayo zokuqeda amandla, iphutha le-hamming, njll ziyatholakala. Omaki abavumelekile abatholiwe bazovezwa efasiteleni lokubuka kuqala.

Imindeni yomaka abasekelwayo ihlanganisa:
- 36h11 (kunconyiwe)
- 36h10
25h9
- 25h7
- 16h5 (esetshenziswa uMqhudelwano WOKUQALA wamarobhothi ngo-2023)

Ukusebenza kusekelwe kuzilungiselelo zomsebenzisi namadivayisi, uma uhlangabezana nokutholwa kancane, cabanga ukukhulisa isici sokunciphisa noma inombolo yochungechunge olusetshenzisiwe.

Uhlelo lokusebenza luwumthombo ovulekile futhi luyatholakala lapha: https://github.com/johnjwang/apriltag-android

Ukutholwa komaka okuyisisekelo kuvela ku-APRIL Robotics Lab yaseNyuvesi yaseMichigan, esatshalaliswa ngeLayisense ye-BSD 2-Clause futhi itholakala lapha: https://github.com/AprilRobotics/apriltag

Yini entsha

3x improvement in detection speed, 10 Hz easily feasible for most reasonable settings/phones.
Decoupled camera, detections, and tag rendering.
Improved rendering for detections: shades region, more visible axes, and tag ID is rendered.
Add max hamming error parameter, defaults to 0 instead of the previous fixed 2. Reduces false positives on 16h5 particularly.
Increase default decimation to 8, add higher options.
Increase default nthreads to 4.
Add diagnostics options.
Misc. bug fixes.