Fiducial Marker Analysis

This is a python repo that provides one-line detection and if desired visualization and analysis of several fiducial marker system both real-time(pyrealsense2 with a Intel Realsense camera) or offline(dataset). Fiducial marker systems that are included are: AprilTag, ArUco, ChAruCo, STag, and TopoTag.

Setup

Corresponding libraries for each fiducial marker system can be found in the libraries folder. Keep in mind that you only need to build the libraries that you are going to use.

Usage

Call the function fiducial_markers function in the main.py.

Dataset

A dataset containing 100 images for each size and type of marker can be found in this Google drive folder. Just download the dataset inside of the repo and call the following function from utils.py

GetImages(is_camera=use_camera, dataset_name=dataset_name)

• where is_camera variable should be False since the dataset is used rather than the camera
• dataset_name is the name of the subfolder containing the desired marker and size

Contact

If you find any bugs or have any questions about the code, please report to the Issues page.