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.
pip install aprilgrid
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.
git clone https://github.com/powei-lin/aprilgrid.git
cd aprilgrid
pip install -e .- Add output for opencv calibrate camera.
- Provide pregenerated pdf and easy way to customize.
- Support all tag families.
- Accelerate and multi-threading.
- Robustness.