This is a simple python binding of Stag Fiducial Marker System

Dependency

1. numpy pip install numpy
2. cmake
3. Pybind11 pip install pybind11

Usage

1. clone this repository

   git clone --recursive https://github.com/Sologala/pyStag.git

2. Find out your numpy include Path

   In [1]: import numpy
   In [2]: numpy.get_include()
   Out[2]: '/Users/bytedance/anaconda3/lib/python3.8/site-packages/numpy/core/include'

3. Fill numpy include to CmakeLists.txt

   include_directories(
       pybindSrc/opencv2numpy
       # You need to change this follow Path  to  your own Path. 
       # "# You need to change this follow Path  to  your own Path. "
       # "# You need to change this follow Path  to  your own Path. "
       # "# You need to change this follow Path  to  your own Path. "
       # "# You need to change this follow Path  to  your own Path. "
       
       /Users/bytedance/anaconda3/lib/python3.8/site-packages/numpy/core/include
   )

4. make

   mkdir build 
   cmake ..
   make

5. then you will got a pyStag.cpython-3*-**.so in ./lib

6. install Python package

   python setup.py install 
   

Test

python test_warpper.py

PS.

Now, this is just a prototype for warpping Stag system. It has only few attributes and interfaces, and function, And I will add some more in the future.

thank to edmBernard's work https://github.com/edmBernard/pybind11_opencv_numpy, let the conversion between numpy and cv::Mat works fine.

STag: A Stable Fiducial Marker System

Code used in the following paper:

B. Benligiray; C. Topal; C. Akinlar, "STag: A Stable Fiducial Marker System," Image and Vision Computing (Accepted), 2019.

Markers (see ref/marker generator for reference code for marker generation):

https://drive.google.com/drive/folders/0ByNTNYCAhWbIV1RqdU9vRnd2Vnc

ROS Package

• STag ROS: A ROS package for the Stable Fiducial Marker System by Unmanned Systems & Robotics Lab - UofSC

• ROS wrapper for STag by Dartmouth Reality and Robotics Lab

Some figures from the paper: