AprilTag-MEX

This is the AprilTag-C library from the University of Michigan, along with a MEX file allowing its use from within Matlab.

Usage

First, compile AprilTag-C:

$ make

It has no dependencies that you won't find already on a POSIX system. In my experience, it does not work on Windows. I have no interest at all in wasting time making it do so, but PRs are welcome.

From within Matlab, compile the MEX:

>> mex apriltag_mex.c -I. -Icommon -L. -lapriltag

Find the tags in an image:

>> img = load('bluefox1.png') % an RGB image
>> gray = rgb2gray(img);
>> [id, center, p1, p2, p3, p4] = apriltag_mex(gray);

Find the tags in all PNGs in the current directory:

>> [names, ids, centers, p1s, p2s, p3s, p4s] = process_all;

License

The AprilTag-C library is BSD licensed by the University of Michigan. I modified it by adding the image_u8_create_from_gray function. The accompanying MEX file and script are BSD licensed by me.