Has anyone used April Tags with ROS?

asked 2013-11-29 10:12:39 -0600

updated 2016-10-24 08:59:47 -0600

ngrennan
1 ●1 ●1

My adviser had pointed me in the direction of these but it looks like they require their own OS/program. Has anyone used these in conjunction with ROS and could speak to their performance or ease of use?

ROSHydro with 12.04, three Kinects I'm trying to combine into one universal frame and image.

Edit: http://wiki.ros.org/april_tk http://mirror.umd.edu/roswiki/april_tags_node.html looks like some tools have been developed. Has anyone used these as well?

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answered 2013-11-29 11:26:15 -0600

mirzashah

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updated 2013-11-29 11:26:58 -0600

Not sure about "AprilTags", but they look pretty much the same as AR tags. Check out this package by Scott Niekum -- http://wiki.ros.org/ar_track_alvar, it's a ROS wrapper for the Alvar AR tag library. It works really well and seems quite robust.

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I've used both april tags and AR tags. As of this summer, the ar_track_alvar package was easier to get up and running, but I haven't tried it in Hydro.

lindzey ( 2013-12-03 18:59:46 -0600 )edit

But which is better (apriltags_ros vs ar-track-alvar) in terms of localisation accuracy ?

malharjajoo ( 2018-04-03 01:32:40 -0600 )edit

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answered 2013-12-03 11:44:57 -0600

derekjchow
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I've put together a package to use AprilTags sometime ago based of a C++ library I found here. I've been meaning to polish it up for a while but haven't found time to do it. Your welcome to use what I have as a starting place.

https://derekjchow@bitbucket.org/derekjchow/april_tags

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answered 2018-01-20 10:29:55 -0600

dasanche
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Hello,

I've used Apriltags and ROS in several projects. The wrappers change a lot with time and therefore there are several versions around. Lastly, I've used the one pointed out in the link with the color image from a Xtion Primesense:

http://wiki.ros.org/apriltags_ros

Hope it helps.

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Regretably, it only worked in Kinetic until a month ago. Since then it crashes. See my question about apriltags a month ago.

Sietse ( 2018-01-21 12:21:24 -0600 )edit

I cloned the repo last week in a colleagues computer and made it work with an Xtion Primesense on Friday, did no changes that I can remember. The computer runs an Ubuntu 16.04, Ros Kinetic distro and I can't remember now which version of Opencv, but I'd guess 3.0.

dasanche ( 2018-01-21 14:51:31 -0600 )edit

The problem started with the upgrade of opencv 3.2 to (currently) 3.3.1. It is a problem in apriltags itself, not ros I think.

Sietse ( 2018-01-21 14:57:37 -0600 )edit

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answered 2017-04-25 03:14:09 -0600

AlexisTM
31 ●1 ●2 ●2

There are 3 wrappers available but I don't know which one is better. I tested one, was working, but needed rework (like 5 lines) to accept grayscale image instead of a RGB image. (It was converting the RGB to Grayscale)

The solution I will investigate is simply to buy a OpenMV7 camera which features Apriltags detection onboard (:

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