Has this project been abandoned? about apriltools

[thegoodhen]

I'm back on it. You can watch the python branch for progress updates!

not just one year, two years! 😄

[thegoodhen]

Awesome to have you back Also, is the rewrite going to use the original apriltag or is it going to use the apriltag 3?

Hello,
the process of compiling AprilTag library under Windows proved to be rather complicated. I couldn't get it to compile natively under Windows and it was not possible for me to get it running on Windows under Python at all.
I would love to get other people involved in the development and it seems like the most straightforward way to achieve this is to write the tool in Python. This makes it extremely simple to install the required dependencies.

For this reason, I decided to use the OpenCV version of Aruco library. The Aruco library
supports April Tags as well as other types of tags.

For historical reasons, I am keeping the name AprilTools.

[thegoodhen]

Wow. It has really been a year. i havent abandoned it... i hope to get back to it soon. i really need to work on it some more.

…

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not just one year, two years! 😄

[MetalMantis]

Awesome to have you back
Also, is the rewrite going to use the original apriltag or is it going to use the apriltag 3?

[MetalMantis]

For this reason, I decided to use the OpenCV version of Aruco library. The Aruco library supports April Tags as well as other types of tags.

does this mean that users will have to install OpenCV as well? Or would the necessary dependencies be included? I recall OpenCV being quite a headache to fully install on Windows.

[thegoodhen]

For this reason, I decided to use the OpenCV version of Aruco library. The Aruco library supports April Tags as well as other types of tags.

does this mean that users will have to install OpenCV as well? Or would the necessary dependencies be included? I recall OpenCV being quite a headache to fully install on Windows.

Hello,
I just pushed some hotfixes to the main branch. It now works under Blender 3.1.

When it comes to the Python version, I am not yet sure how I will be distributing it,

You are absolutely correct that OpenCV is a huge pain to install under Windows. That being said, I never had issues when getting it to work under Python, because Python has a package with precompiled binaries ready.

I haven't yet looked into ways to distribute the Python application, but I definitely will do my best to circumvent the necessity to install OpenCV under Windows.

To be honest, I tried installing it before for the purpose of development and FAILED.

UPDATE regarding the Python version:

• Tracking of multiple markers works
• Determining the relative position of the different markers works
• Running bundle adjustment to further refine the intrinsic/extrinsic camera parameters works
  It is now possible to refine position of the markers, camera position optical center x/y, focal length and 2 distortion parameters either globally or even separately for each frame.

That being said, I am having some problems with the algorithm that I am using to get the relative position of the markers. Sometimes I am getting reprojection errors under 0.25px, other times it fails miserably and shoots into thousands. I know what the problem is, but am not sure how to solve it yet.

Then of course I need to implement the GUI... Lots of work ahead! So far I am still just changing constants in the code and experimenting!
Another large concern I have is that the markers I am using (Aruco) have worse accuracy than AprilTags. Worst case, I will need to create a separate binary just to track the AprilTag markers and then import the file it generates into Python for further processing.