Pi-Tag Fiducial Marker Detector
C++ CMake
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cmake/Modules
markers
.gitignore
AbstractFiducialModel.cpp
AbstractFiducialModel.h
AbstractFiducialParameters.h
CMakeLists.txt
FiducialDefines.h
FiducialModelPi.cpp
FiducialModelPi.h
FiducialPiParameters.h
ellipserefine.cpp
ellipserefine.hpp
pitag-test.cpp
readme.md

readme.md

Pi-Tag Detector

This is a fork of the Pi-Tag fiducial marker detector in the cob_fiducials ROS module, modified to not require ROS. Other modifications include a separate function to just get the marker pixel coordinates instead of the pose and the addition of the ellipse refinement step mentioned in the Pi-Tag paper.

One example marker is included in the markers directory, copied from cob_fiducials. Others can be generated with a Pi-Tag generator.

The included test program can be invoked with ./pitag-test modelfile imagefile, which will print a list of detected tags and the image pixel locations of their dots.

Dependencies

License

  • LGPL v3+ (per the cob_fiducials license)
  • The ellipse refinement step, copied from the RUNE-Tag reference implementation, and the test program are licensed under the MIT license

Credits