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apriltag-generator

This is a sped-up version of the generator published by the original authors.

I have partially modified to make use of faster java operations and also converted it back to single-threading, to get determinism back.

A word of Warning: you should always make sure, that the set of codes you printed does exactly match the set of codes you have programmed in your recognition tool - or otherwise it might not work!

Number of codes

Bits Min. Complexity Hamming Distances
4 5 6 7 8 9 10 11
16 5 201 34 21 7
25 8 254 152 38
36 10 31812 5375 2793 593

Usage

compile the source with

ant

and then launch the generation. If you wanted to generate 36h11c10 tags, and let it do 2 rounds, you would do

java -cp april.jar april.tag.TagFamilyGenerator 2

To generate the images from source,

java -cp april.jar april.tag.TagFamily april.tag.family.Tag36h11c10 /tmp/tag36h11c10

Useful for running in ec2:

screen -S april36h9c10 -d -m java -cp april36h9c10.jar april.tag.TagFamilyGenerator 100

License

The original work states BSD License. I hereby license my modifications under the same license.

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