Images and Fiducials
AprilTags
One common use in SLAM is AprilTags.jl. Please see that repo for documentation on detecting tags in images. Note that Caesar.jl has a few built in tools for working with Images.jl too.
using AprilTags
using Images, Caesar
Which immediately enables a new factor specifically developed for using AprilTags in a factor graph:
Missing docstring for Caesar.Pose2AprilTag4Corners
. Check Documenter's build log for details.
Using Images.jl
The Caesar.jl ecosystem support use of the JuliaImages/Images.jl suite of packages. Please see documentation there for the wealth of features implemented.
Handy Notes
Converting between images and PNG format:
bytes = Caesar.toFormat(format"PNG", img)
More details to follow.
Images enables ScatterAlign
See point cloud alignment page for details on ScatterAlignPose