AprilTag example code not working on OAK-D

DrRoboto

I tried to use the AprilTag python code from:

https://github.com/luxonis/depthai-python/tree/main/examples/AprilTag

I printed the tags using a pdf from this link.:

https://docs.cbteeple.com/robot/april-tags

It runs, but I only get a detection on the tag once in a blue moon. I tried several different ones (one per page and two per page) but no difference. When it does detect a tag it returns the correct ID. However, the performance is so bad that I can't use it.

I saw that there are some params you can configure, but I was not sure what to tweak. Any ideas on what could be wrong or how to make it work more consistently? Are the tags I am using correct?

Thanks

jakaskerl

Hi DrRoboto
Yeah the AprilTags node is still very much work in progress (hence no documentation anywhere). I feel like you will need to run it on host if you wish to get a decent result.

Thanks,
Jaka

DrRoboto

Thanks. That is unfortunate. In my lab we use them a lot, and I was hopeful this would be a super easy way to add AprilTag support to even the smallest of our robots. Hopefully they will get this sorted out sooner than later because it is a very useful capability to have.

erik

Hi DrRoboto ,
Unfortunately AprilTags just can't run efficiently on RVC2. So for RVC2 we will likely remove them from depthai altogether, and also add support for them in RVC3, which does have quadcore ARM where it can run much more accurately/efficiently.
Thanks, Erik