These are Python bindings for the Apriltags3 library developed by AprilRobotics, specifically adjusted to work with the pupil-labs software. The original bindings were provided by duckietown and were inspired by the Apriltags2 bindings by Matt Zucker.

This is the recommended and easiest way to install pupil-apriltags.

pip install pupil-apriltags

We offer pre-built binary wheels for common operating systems. To install from source, see below.

Some examples of usage can be seen in the src/pupil_apriltags/bindings.py file.

The Detector class is a wrapper around the Apriltags functionality. You can initialize it as following:

from pupil_apriltags import Detector

at_detector = Detector(
   families="tag36h11",
   nthreads=1,
   quad_decimate=1.0,
   quad_sigma=0.0,
   refine_edges=1,
   decode_sharpening=0.25,
   debug=0
)

at_detector.detect(img)

See the API reference documentation for details.

You can of course clone the repository and build from there. For development you should install the development requirements as well. This project uses the new python build system configuration from PEP 517 and PEP 518.

# clone the repository
git clone --recursive https://github.com/pupil-labs/apriltags.git
cd apriltags

# install apriltags in editable mode with development requirements
pip install -e .[testing]

# run tests
pytest tests/