AprilTag.AprilTag Class Reference

Detect apriltag robotic fiducial markers in Python. More...

Public Member Functions
	__init__ (self)
	Constructor.
	init (self)
	JeVois optional extra init once the instance is fully constructed.
	setDic (self, dicname)
	processNoUSB (self, inframe)
	Process function with no USB output.
	processGUI (self, inframe, helper)
	Process function with GUI output on JeVois-Pro.

Public Attributes
	timer
	families
	detector
	pc
	dic
	setDic
	options

Detailed Description

Detect apriltag robotic fiducial markers in Python.

This module detects apriltag markers, which are small 2D barcode-like patterns used in many robotics applications. The code here is derived from https://pyimagesearch.com/2020/11/02/apriltag-with-python/

On host, make sure the apriltag library is installed with 'pip install apriltag'; it is pre-installed on platform.

If you need full 3D pose revovery, see our other module DemoArUco, which also supports AprilTag.

Author

Laurent Itti

Display Name:

AprilTag

Videomapping:

JVUI 0 0 30.0 CropScale=GREY@1024x576 YUYV 1920 1080 30.0 JeVois AprilTag

Email:

itti@usc.edu

Address:

University of Southern California, HNB-07A, 3641 Watt Way, Los Angeles, CA 90089-2520, USA

Copyright

Copyright (C) 2024 by Laurent Itti, iLab and the University of Southern California

Main URL:

http://jevois.org

Support URL:

http://jevois.org/doc

Other URL:

http://iLab.usc.edu

License:

GPL v3

Distribution:

Unrestricted

Restrictions:

None

Definition at line 32 of file AprilTag.py.

Constructor & Destructor Documentation

__init__()

AprilTag.AprilTag.__init__

(

self

)

Constructor.

Definition at line 35 of file AprilTag.py.

Member Function Documentation

init()

AprilTag.AprilTag.init

(

self

)

JeVois optional extra init once the instance is fully constructed.

Definition at line 43 of file AprilTag.py.

processGUI()

AprilTag.AprilTag.processGUI	(		self,
			inframe,
			helper
	)

Process function with GUI output on JeVois-Pro.

Definition at line 81 of file AprilTag.py.

References AprilTag.AprilTag.detector, PySceneText.PySceneText.detector, PythonObject6D.PythonObject6D.detector, AprilTag.AprilTag.timer, FirstPython.FirstPython.timer, PyClassificationDNN.PyClassificationDNN.timer, PyCoralClassify.PyCoralClassify.timer, PyCoralDetect.PyCoralDetect.timer, PyCoralSegment.PyCoralSegment.timer, PyDetectionDNN.PyDetectionDNN.timer, PyDMTX.PyDMTX.timer, PyEmotion.PyEmotion.timer, PyFaceMesh.PyFaceMesh.timer, PyHandDetector.PyHandDetector.timer, PyLicensePlate.PyLicensePlate.timer, PyObjectron.PyObjectron.timer, PyPoseDetector.PyPoseDetector.timer, PySceneText.PySceneText.timer, PySelfie.PySelfie.timer, PythonObject6D.PythonObject6D.timer, PythonOpenCV.PythonOpenCV.timer, PythonParallel.PythonParallel.timer, PythonSandbox.PythonSandbox.timer, and PythonTest.PythonTest.timer.

processNoUSB()

AprilTag.AprilTag.processNoUSB	(		self,
			inframe
	)

Process function with no USB output.

Definition at line 67 of file AprilTag.py.

References AprilTag.AprilTag.detector, PySceneText.PySceneText.detector, and PythonObject6D.PythonObject6D.detector.

setDic()

AprilTag.AprilTag.setDic	(		self,
			dicname
	)

Definition at line 53 of file AprilTag.py.

References AprilTag.AprilTag.detector, PySceneText.PySceneText.detector, and PythonObject6D.PythonObject6D.detector.

Member Data Documentation

detector

AprilTag.AprilTag.detector

Definition at line 39 of file AprilTag.py.

Referenced by AprilTag.AprilTag.processGUI(), PySceneText.PySceneText.processGUI(), AprilTag.AprilTag.processNoUSB(), and AprilTag.AprilTag.setDic().

dic

AprilTag.AprilTag.dic

Definition at line 47 of file AprilTag.py.

families

AprilTag.AprilTag.families

Definition at line 38 of file AprilTag.py.

options

AprilTag.AprilTag.options

Definition at line 56 of file AprilTag.py.

pc

AprilTag.AprilTag.pc

Definition at line 45 of file AprilTag.py.

setDic

AprilTag.AprilTag.setDic

Definition at line 49 of file AprilTag.py.

timer

AprilTag.AprilTag.timer

Definition at line 37 of file AprilTag.py.

Referenced by FirstPython.FirstPython.process(), PyClassificationDNN.PyClassificationDNN.process(), PyCoralClassify.PyCoralClassify.process(), PyCoralDetect.PyCoralDetect.process(), PyCoralSegment.PyCoralSegment.process(), PyDetectionDNN.PyDetectionDNN.process(), PyDMTX.PyDMTX.process(), PythonObject6D.PythonObject6D.process(), PythonOpenCV.PythonOpenCV.process(), PythonParallel.PythonParallel.process(), PythonSandbox.PythonSandbox.process(), AprilTag.AprilTag.processGUI(), PyCoralClassify.PyCoralClassify.processGUI(), PyCoralDetect.PyCoralDetect.processGUI(), PyCoralSegment.PyCoralSegment.processGUI(), PyFaceMesh.PyFaceMesh.processGUI(), PyHandDetector.PyHandDetector.processGUI(), PyLicensePlate.PyLicensePlate.processGUI(), PyObjectron.PyObjectron.processGUI(), PyPoseDetector.PyPoseDetector.processGUI(), PySceneText.PySceneText.processGUI(), PySelfie.PySelfie.processGUI(), PythonOpenCV.PythonOpenCV.processGUI(), PythonSandbox.PythonSandbox.processGUI(), PythonTest.PythonTest.processGUI(), FirstPython.FirstPython.processNoUSB(), PythonObject6D.PythonObject6D.processNoUSB(), and PythonSandbox.PythonSandbox.processNoUSB().

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The documentation for this class was generated from the following file:

• src/Modules/AprilTag/AprilTag.py