Setting up different AprilTag families

[dvz]

Hi ModalAI team,

I would like to use different AprilTag families than the old 36h11 family. How much work would it be to run a different family through the modalAI architecture over ROS packages? Ideally, I would like to change the voxl-tag-detector so it can use the custom48h12 family. How would one approach this problem?

Thank you.

[ApoorvThapliyal]

Hey @dvz, thanks for your query

We’re currently in the process of updating the voxl-tag-detector to support additional AprilTag families beyond just the 36h11.

If you’d like to try this yourself in the meantime, the following line in main.cpp creates the detector for the 36h11 family: here

To add support for the tagCustom48h12 family, you can:

Add the include:

#include <tagCustom48h12.h>

Replace the detector creation line with:

tf = tagCustom48h12_create();

Please note that this change may affect the current functionality, you’ll likely need to make additional modifications in main.cpp to ensure it builds and runs correctly.
As mentioned, we’re actively working on making this a much smoother process in the future. But if you’d like to get started now, the above steps should point you in the right direction.