This release is a pre-release and may not be stable for production use.
fiducial
Fiducial-marker detection, fast. A clean Python API for detecting AprilTag, ArUco, ChArUco, and chessboard targets on top of an extensible C++ core with optional CUDA acceleration.
pip install fiducial
Public API
The package exposes three building blocks plus a detectors namespace
for concrete implementations.
| Symbol | Kind | Description |
|---|---|---|
fiducial.Detector |
typing.Protocol (runtime-checkable) |
detect(image) -> list[Marker] |
fiducial.Marker |
frozen dataclass | family, id, points, detector_meta |
fiducial.Observation |
frozen dataclass | pixel, point_3d, point_id |
fiducial.detectors.AprilTagDetector |
class | conforms to Detector |
Any object that implements detect(image) satisfies the protocol — there
is no required base class.
Architecture
Top-level public API:
fiducial.Detector—typing.Protocol(runtime-checkable). Method:detect(image: np.ndarray) -> list[Marker].fiducial.Marker— frozen dataclass. Fields:family: str,id: int | None,points: list[Observation],detector_meta: dict.fiducial.Observation— frozen dataclass. Fields:pixel: tuple[float, float],point_3d: tuple[float, float, float],point_id: int | None.
fiducial.detectors namespace exposes one entry:
AprilTagDetector— conforms to theDetectorprotocol.
src/fiducial/
├── __init__.py Public re-exports + version
├── _core.py Detector protocol + Marker / Observation
└── detectors/
├── __init__.py Detector implementations namespace
└── apriltag.py AprilTagDetector
The native core is a small C++17 / nanobind extension (_fiducial)
with optional CUDA support (-DBUILD_CUDA=ON).
Status
fiducial is in early development. The public surface is intentionally
small while the detector backends are being built out.
Documentation
Full documentation will be available at vistralis.org/fiducial.
Development
pip install -e ".[dev]"
ruff check .
ruff format --check .
pytest
To build with CUDA support:
pip install -e ".[dev]" \
--config-settings=cmake.define.BUILD_CUDA=ON
License
Apache-2.0 — see LICENSE for details.
Copyright (c) 2026 Vistralis Labs.
1 maintainer
Metadata
1 maintainer
Release files for fiducial 0.0.1.dev1
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