Add ArUco families support, deep-copy utilities, and pose ambiguity handling#428
Open
fspindle wants to merge 3 commits intoAprilRobotics:masterfrom
Open
Add ArUco families support, deep-copy utilities, and pose ambiguity handling#428fspindle wants to merge 3 commits intoAprilRobotics:masterfrom
fspindle wants to merge 3 commits intoAprilRobotics:masterfrom
Conversation
- Add apriltag_detection_copy() and apriltag_detections_copy() for deep copying results. - Add apriltag_detector_copy() to clone detector configurations. - Implement get_second_solution() in apriltag_pose to expose the alternative pose solution from orthogonal iteration. - Improve API flexibility for multi-threaded applications and pose ambiguity handling.
- Integrate ArUco dictionaries: 4x4, 5x5, 6x6, 7x7 with varying sizes (50-1000). - Include ArUcoMIP36h12 family support. - Update Python wrappers and docstrings to expose new families. - Update C and OpenCV demo examples to support ArUco family selection. - Add quick_decode tests for all new ArUco families.
10 tasks
Collaborator
|
This is a massive PR. Can you split the three parts into dedicated PRs? Because the ArUco support is quite a substantial shift in scope for the library, I suggest submitting the other two PRs first. |
fspindle
added a commit
to fspindle/visp
that referenced
this pull request
Mar 5, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR introduces three major improvements to the AprilTag library: native support for ArUco tag families, deep-copy utility functions for better memory management, and an API to retrieve the alternative pose solution during pose estimation.
1. Native ArUco Support
Integrated the ArUco dictionaries into the AprilTag ecosystem. This allows users to detect ArUco markers using the robust AprilTag 3 detector without needing external conversion tools.
2. Deep-Copy Utilities
Added functions to simplify memory management when detections need to be passed between threads or stored beyond the detector's lifecycle.
3. Pose Ambiguity Handling
Planar markers often have two mathematically plausible pose solutions. I've exposed the second solution from the orthogonal iteration algorithm.