apriltag_detector_umich

ROS package for apriltag detection with the UMich detector

README

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

  • Topics (subscribed, but ONLY when there is a subscriber to tags):

    • image: image topic to use.

    • tags: the detected tags from the apriltag library.

  • Topics (published):

    • tags: tag detections.

  • Parameters:

    • blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).

    • decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).

    • image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.

    • image_transport: The type of image transport to use, e.g. compressed. Default: raw.

    • max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).

    • num_threads: number of threads to use for processing. Default: 1.

    • tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.