apriltag-imgs
apriltag-imgs copied to clipboard
Add examples about recursive tag family
Dear developers.
I am working on a drone-related application, which requires some tags with a long detection range. Therefore, I would like to seek advice from you on how to generate suitable tags with a recursive style. I would appreciate it if you could provide some pre-generated ones.
Best regards~
Similar problem here
My steps for generating a recursive tag:
- Download multiple tagCustom48h12 tags
- Scale them up with
convert
in the terminal (I used 1000%), or use the providedtag_to_svg.py
script to generate svg images. - Open a graphics editor (I used Inkscape), load all your edited tags, and embed them inside of each other recursively. Say you want to imbed tag B inside tag A. Tag A is 10x10 units, so tag B needs to be shrunk to 2x2 units, and placed in the center of tag A.
- Export the resulting image.
I used a tag bundle provided by apriltag_ros to detect the recursive tag. I've attached a recursive tag I made, in which the tag IDs are 0 (outer), 1, and 2 (inner). Hope this helps!