aprilgrid-rs

Pure Rust version of aprilgrid

Install from cargo

cargo add aprilgrid

Usage

See examples/demo.rs

// load image
let img = ImageReader::open(path.unwrap())?.decode()?;

// create detector
let detector = aprilgrid::detector::TagDetector::new(&aprilgrid::TagFamily::T36H11, None);

// detect tags
let tags = detector.detect(&img);

// support kornia image
// cargo add aprilgrid -F kornia
let image: kornia::image::Image<u8, 3> =
    kornia::io::functional::read_image_any("...").unwrap();
let tags = detector.detect_kornia(&image);

Example

cargo run --example demo -r

Run tests

cargo test -r

TODO

• Robustness.
• Unit tests.

Generate chart pdf

pip install opencv-python pillow cairosvg svgwrite
python3 scripts/generate_aprilgrid.py -h

Reference

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