Shameless copy of the apriltags code from https://github.com/ethz-asl/kalibr with a new pybind11 wrapper. Tested only on linux.

To self educate, the test.py and aprilgrid/__init__.py files are good starting points. Also check here to understand the wrapper as well as the underlying objects better.

Currently it's ergonomic only to create a detector for the t36h11 family. To do that, you can do

from apriltags_eth import make_default_detector

detector = make_default_detector()

This creates an instance of the type AprilTagDetector. Calling the extract_tags function on an opencv image will return a list of AprilTagDetection objects which contain the following fields (not a comprehensive list):

id: the id/number of the tag
good: if the detection was high confidence
corners: an array of 4 corners, each corner represented by a tuple e.g. [(x1, y1), (x2, y2) ...]