aprilgrid 0.5.0

Pure python version of aprilgrid.

Aprilgrid

Pure python version of aprilgrid

Inspired by Apriltag and Kalibr. There are lots of existing python binding of Apriltag. But as everyone knows, python binding causes a lot of issues. So I rewrite a pure python version of Apriltag, and it's also able to detect Aprilgrid.

Install from PyPI

pip install aprilgrid

Usage

Some examples of usage can be seen in the example/main.py file.

from aprilgrid import Detector

detector = Detector("t36h11")

detector.detect(img)

Kalibr uses 2 bit black border while apriltag3 uses 1 bit black border for each tag. The default of aprilgrid follows Kalibr. Please use t36h11b1 if you're using tags with 1 bit black border.

Development

git clone https://github.com/powei-lin/aprilgrid.git
cd aprilgrid
pip install -e .

TODO

• Add output for opencv calibrate camera.
• Provide pregenerated pdf and easy way to customize.
• Support all tag families.
• Accelerate and multi-threading.
• Robustness.

Reference

• https://github.com/AprilRobotics/apriltag
• https://github.com/ethz-asl/kalibr