Apriltag Camera Calibration Board Generator

Why? There didn't really seem to be an easy way to do this IMHO.

Install

pip install moms_apriltag

Usage

See the jupyter notebook in example/examples.ipynb for how to use this.

This package create a simple numpy image that can then be saved to a PNG or JPEG image and printed. For circular or custom tags, there is a toRGBA() function to save the tag to a png using any image library that can accept numpy array images.

Supported families are shown in the table below:

ref

#!/usr/bin/env python3
import moms_apriltag as apt
import imageio


if __name__ == '__main__':
    family = "tag36h10"
    shape = (6,8)
    filename = "apriltag_target.png"
    size = 50

    tgt = apt.board(shape, family, size)
    imageio.imwrite(filename, tgt)

# for AprilTag v2
from moms_apriltags import TagGenerator2
from matplotlib import pyplot as plt

tg = TagGenerator3("tag16h5")
tag = tg.generate(4)

plt.imshow(tag, cmap="gray)

# for AprilTag v3
from moms_apriltags import TagGenerator3
from matplotlib import pyplot as plt

tg = TagGenerator3("tagStandard41h12")
tag = tg.generate(137)

plt.imshow(tag, cmap="gray)

Todo

• refactor board code
• enable apriltag v3 markers in board

MIT License

Copyright (c) 2020 Kevin J. Walchko

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.