gitwyd / rm_apriltaglayoutgen

python script to generate PDF file with layout for April Tags

RM_AprilTagLayoutGen

python script to generate PDF file with layout for April Tags

April Tag Strip Generator for the Robot Metabolism Project

[Robert Kasumi]
Columbia University

Overview

This repo contains the script that generates PDF files of April Tag strips to be attached to the Robot Metabolism links.

Content

• Installation
• [Running the Script]

Installation

The repository (April Tag Generation script and folder containing images of April Tags) is downloaded using the following command:

git clone https://github.com/GitWyd/RM_AprilTagLayoutGen.git

Make sure the reportlab tool is also downloaded using:

pip install reportlab==3.2.0

Running the Script

First, go into the script and configure your scaling factors. Set tagScale to a negative integer if you wish to size each tag independently. Then, run the following:

./maketags.sh

Alternatively, the script can be run using:

python atagmain.py -i -l

The flag -i is followed by the name of the input file to be read.
The input file used to generate tags should always be tags36h11_big, as the scaling factors used in atagmain.py were based on the image dimensions in tags36h11_big. The flag -l is a list of links that April Tag strips will be generated for. For example, the command line statement

python atagmain.py -i tags36h11_big_cropped_flipped -l 0 1

Will produce four strips total, the first two for link zero, and the last two for link one.

Detect Apriltags from images or pdf files

The script detect_apriltags.py can be used to detect the apriltags in an image or a multi-page pdf file. --verbose draws bounding boxes and ids of detected tags on the images.

Additional packages required apriltag, opencv-python, numpy, pdf2image

Usage

python detect_apriltags.py <FILENAME> --verbose