go-apriltag
Description
Apriltags image recognition for Go.
Uses Cgo, but does not require any libraries or dependencies.
Installation
This package can be installed with the go get command:
go get github.com/twitchyliquid64/go-apriltag
NOTE: Make sure cgo works on your system.
Only tested on Linux, but should work (or need trivial modifications) to work on other platforms.
Documentation
API documentation can be found here: http://godoc.org/github.com/twitchyliquid64/go-apriltag
Trivial example, finding apriltags in a PNG:
detector := apriltag.New()
defer detector.Close()
f, err := os.Open("testtags.png")
if err != nil {
t.Fatal(err)
}
defer f.Close()
img, err := png.Decode(f)
if err != nil {
t.Fatal(err)
}
findings := detector.Find(ImgToGrayscale(img)) // list of discovered tags
// If you want you can draw boxes around the tags
center := color.RGBA{R: 255, G: 0, B: 0, A: 255}
corner := color.RGBA{R: 0, G: 255, B: 0, A: 255}
apriltag.DrawFindings(img.(*image.RGBA), findings, center, corner)
License
In this repository, those files are an amalgamation of code that was copied from Apriltag. The license of that code is the same as the license of Apriltag. Apriltag copyright notices remain intact as per license requirements.
For all non-Apriltag code, consider the license text as per the LICENSE file.