readAprilTag in Simulink for code generation

Question

Alberto Sconfienza 2021-3-12

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https://ww2.mathworks.cn/matlabcentral/answers/771018-readapriltag-in-simulink-for-code-generation

编辑： Dingzhi Zhang 2021-11-24

Good morning,

Someone has any ideas on how I can use the function readAprilTag in Simulink for code generation?

Or someone has done before the estimation and pose of an AprilTag in Simulink?

Thank you.

Alberto

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Answer 1

Uday Pradhan 2021-3-15

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Hi Alberto,

The "readAprilTag" function is currently not supported for code generation. You could use the coder.extrinsic API to include such functions in your custom code:

coder.extrinsic('readAprilTag');

I hope this helps!

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Alberto Sconfienza 2021-3-16

I tried, but what I get is this error:

The extrinsic function 'readAprilTag' is not available for standalone code generation. It must be eliminated for stand-alone code to be generated. It could not be eliminated because its outputs appear to influence the calling function. Fix this error by not using 'readAprilTag' or by ensuring that its outputs are unused.

Dingzhi Zhang 2021-11-24

编辑：Dingzhi Zhang 2021-11-24

Same problem here. I think for the function 'readAprilTag' is only possible to use coder in the host system, but not possible to use in the target system, which for example can be the RaspberryPi.

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

Generates code only on host platforms.
You must specify the input argument tagFamily as a character vector or an array of character vectors. String inputs are not supported.

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