README

BUG
---

Apriltag3 cannot detect small new-style tags Standard16h5.h

Generation:
-----------

apriltag-generation: version bdc00e0241713672c48aa915a7bbebc939373b66
 
$ java -cp april.jar april.tag.TagFamilyGenerator standard_5 5 > src/april/tag/TagStandard16h5.java
$ # remove TagStandard16h5.java header
$ ant
$ java -cp april.jar april.tag.TagToC april.tag.TagStandard16h5
$ mkdir tagStandard16h5
$ java -cp april.jar april.tag.GenerateTags april.tag.TagStandard16h5 tagStandard16h5/

Compilation / Test
------------------

apriltag: version 756423674639e1bd3c38503c34a1e39cec57cd0a (HEAD)

Detection
---------

$ ./apriltag_demo s16h5.pnm  --family tagStandard16h5 -d -x 1

TagStandard16h5.java

package april.tag;

/** Tag family with 14 distinct codes.
    bits: 16,  minimum hamming: 5

    Max bits corrected       False positive rate
            0                  0.02136230 %
            1                  0.36315918 %
            2                  2.92663574 %

    Generation time: 0.213000 s

    Hamming distance between pairs of codes (accounting for rotation):

       0  0
       1  0
       2  0
       3  0
       4  0
       5  37
       6  40
       7  10
       8  2
       9  2
      10  0
      11  0
      12  0
      13  0
      14  0
      15  0
      16  0
**/
public class TagStandard16h5 extends TagFamily
{
	private static class ConstructCodes0 {
		private static long[] constructCodes() {
			return new long[] { 0x9765L, 0x9d2aL, 0xf3b5L, 0x2d67L, 0x55caL, 0x53a6L, 0x6abaL, 0xbc56L, 0x4a6fL, 0xd516L, 0xaf35L, 0x66b1L, 0xb73eL, 0x9ab4L };
		}
	}

	private static long[] constructCodes() {
		long[] codes = new long[14];
		System.arraycopy(ConstructCodes0.constructCodes(), 0, codes, 0, 14);
		return codes;
	}

	public TagStandard16h5()
	{
		super(ImageLayout.Factory.createFromString("Standard", "ddddddbbbddbwbddbbbdddddd"), 5, constructCodes());
	}
}

debug_clusters.pnm

debug_lines.ps

debug_output.pnm

debug_output.ps

debug_preprocess.pnm

debug_quads.ps

debug_quads_fixed.pnm

debug_quads_raw.pnm

debug_samples.pnm

debug_segmentation.pnm

debug_threshold.pnm

demo.diff

mosaic.png

s16h5.png

s16h5.pnm

tagStandard16h5.c

tagStandard16h5.h