apriltag crate

High-level API for AprilTag library built on top of apriltag-sys.

Usage

Import to your project

Add apriltag crate to your Cargo.toml.

cargo add apriltag

Customize the build (optional)

The apriltag crate ships and statically links the AprilTag C library by default. If you would like to customize the way to link the AprilTag library, please read the notes in apriltag-sys README.

Example

To run apriltag detection on an PNM image,

cargo run --example detector -- input.pnm

It accepts additional arguments:

cargo run --example detector -- \
    --family tag36h11 \
    --tag-params 1,2.1,2.2,4,5 \
    input.pnm

where the arguments are explained as follows.

• --family tag36h11 specifies the tag36h11 tag family.
• --tag-params 1,2.1,2.2,4,5 sets the tag size, fx, fy, cx and cy parameters. It enable pose estimation feature.

Third-party type conversions

Third-party type conversions are supported by extension crates, including

• apriltag-nalgebra: Add conversions from/to two dimensional byte matrix in nalgebra crate.
• apriltag-image: Add conversions from/to image types in image crate.

License

BSD 2-Clause License. See LICENSE file.