apriltag-rust

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

Usage

Import to your project

Follow the install instructions on official repository to install AprilTag library.

Import apriltag-sys dependency in your Cargo.toml

toml [dependencies] apriltag = "0.3"

Feature Flags

The feature flags control the supported conversions from/to third-party types. It includes

• full: Enable most available features.
• nalgebra: Get type conversions from/to two dimensional byte matrix from nalgebra crate.
• image: Get type conversions from/to image types from image crate.

Customize the build

If you would like to customize the way to link the AprilTag library, please read the notes in apriltag-sys README.

Example

To run detection on an image, run

sh cargo run --features full --example detector -- input.jpg

It accepts additional arguments:

• --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.

sh cargo run --features full --example detector -- \ --family tag36h11 \ --tag-params 1,2.1,2.2,4,5 \ input.jpg

The demo implementation can be found in examples directory.

License

BSD 2-Clause License. See LICENSE file.