de.tu-dresden.inf.st.apriltag.unity - AprilTag package for Unity

A fork of Keijiro's AprilTag Unity plugin project with additional support for multiple tag sizes.

de.tu-dresden.inf.st.apriltag.unity is a Unity package providing a native code implementation of an AprilTag tracker.

AprilTag is a marker based tracking system developed by the APRIL Robotics Laboratory at the University of Michigan. Please see the AprilTag web page for further details.

System requirements

• Unity 2022.3

At the moment, this package supports the following systems:

• Windows (x86-64), macOS (x86-64), Linux (x86-64), iOS (arm64), Android (arm64)

How to install

This package is available in the Keijiro scoped registry.

• Name: Keijiro
• URL: https://registry.npmjs.com
• Scope: jp.keijiro

Please follow this gist to add the registry to your project.

How to try the sample project

Clone this repository and play DetectionTest.unity on Unity Editor.

The current version of the TagDetector component only supports the tagStandard41h12 tag set. You can download those tag images from the apriltag-imgs repository. Print some of them using a printer, or use a smartphone screen to display the tags.

The DetectionTest component uses the Field of View value of the main camera to estimate tag positions. You can try the sample without adjusting it, but it may give incorrect depth information. To get accurate tag positions, you should match the FoV value with the actual camera FoV.

For example, I'm using Zoom Q2n-4K video camera for testing, which gives about 78 degrees horizontal FoV at the mid-angle mode. So I changed the FOV Axis to "Horizontal" and the Field of View value to 78.

How to detect tags

At first, create the AprilTag.TagDetector object specifying the input image dimensions. You can run the detector in a lower resolution by specifying a decimation factor. It may improve the speed at the cost of accuracy and detection rate.

detector = new AprilTag.TagDetector(imageWidth, imageHeight, decimation);

Call the ProcessImage method every frame to detect tags from an input image. You can use ReadonlySpan<Color32> to give an image. At the same time, you have to specify:

• the camera FoV (horizontal) in degrees
• an array of tag size in meters
• tag ID divider for the tag size array
  For example, 3 tag sizes with a divider of 100 will give you the following tag sizes:
  • tagSizes[0] for tag ID 0 - 99
  • tagSizes[1] for tag ID 100 - 199
  • tagSizes[2] for tag ID 200 - 299

texture.GetPixels32(buffer);
detector.ProcessImage(buffer, fov, tagSizes, tagSizeDivider);

You can retrieve the detected tags from the DetectedTags property.

foreach (var tag in detector.DetectedTags)
    Debug.Log($"{tag.ID} {tag.Position} {tag.Rotation}");

Dispose the detector object when you no longer need it.

detector.Dispose();

For details, please check the DetectionTest.cs example.

Related repositories

• The original AprilTag project repository: https://github.com/AprilRobotics/apriltag
• Pre-generated tag images: https://github.com/AprilRobotics/apriltag-imgs
• A fork of the AprilTag repository used to build Unity plugin binaries. https://github.com/keijiro/apriltag