Generate AprilTags in custom layouts for AprilTag 3.
First, you will need to generate the code associated with the layout of your marker :
ant
java -cp april.jar april.tag.TagFamilyGenerator <layout> <minimalHammingDistance>
The choices of layout are :
- standard_x, new-style april tag with one pixel of data on the outside
- classic_x, old-style april tag
- circle_x, for circular april tag
- custom_[...]. For more details about this last one, please check https://github.com/AprilRobotics/apriltag-generation/blob/master/src/april/tag/TagFamilyGenerator.java
With x the size of the tag (in pixels). The smaller is x, the faster the generation is.
You will have as output into the terminal a string, starting from "package april.tag;" and ending at the end of the terminal. This string is your new code that will be use for generating your markers. Save it into a .java file (ex : TagStandard20h9.java), into src/april/tag.
Then, execute :
ant
Next, you can use this command to generate the C code associated with the marker :
java -cp april.jar april.tag.TagToC april.tag.<name_of_new_java_file>
Or generate your new markers as .png :
java -cp april.jar april.tag.GenerateTags april.tag.<name_of_new_java_file> .
NB : If the format of the markers is very small (ex : by default, 9x9 pixels), you'll need to rescale them. To do so, you may use the following command (Unix) :
convert <small_marker>.png -scale <scale_chosen_in_percent>% <big_marker>.png
$ ant
$ java -cp april.jar april.tag.TagFamilyGenerator circle_9 7
Then to generate the c code and tag images after copying the output into the source folder:
$ ant
$ java -cp april.jar april.tag.TagToC april.tag.TagCircle21h7
$ java -cp april.jar april.tag.GenerateTags april.tag.TagCircle21h7 .