AprilTag Detection

Reading Configuration

Setup

Initiate a ConfigReader object without a constructor and call the readFromFile(std::string path) method with specified directory path with the config to load it.

ConfigReader config;
config.readFromFile("./example/"); // Relative to project root directory but absolute paths work too

Detection

TitanProcessing library provides an ApriltagDetector class which processes the specified stream and sends pose packets over UDP. Initialize ConfigReader, NetworkingClient, PoseFilter, and Localizer and pass these objects to the ApriltagDetector constructor. The first int argument specified is the index of /dev/video* feed. The second bool argument specified whether or not to open the stream with a window (opens through X11 by default).

Multithreading