AprilTag is a visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and camera calibration. Targets can be created from an ordinary printer, and the AprilTag detection software computes the precise 3D position, orientation, and identity of the tags relative to the camera. Implementations are available in Java, as well as in C. Notably, the C implementation has no external dependencies and is designed to be easily included in other applications, as well as portable to embedded devices. Real-time performance can be achieved even on cell-phone grade processors.

The two main papers to refer to understand the apriltag algorithm are the following:

1. IROS 2016 - AprilTag 2: Efficient and robust fiducial detection: this is the paper which refers to the version of the algorithm that we want to use

2. ICRA 2011 - AprilTag: A robust and flexible visual fiducial system: this is the paper which explains how the first version of the algorithm works

I release this code with OpenCvsharp.

And now, just support tag36h11,tag25h9,tag16h5.

1. You should install the OpencvSharp(I recommend to use Nuget)
2. Now you can run this program with Program.cs

目前代码需要使用到OpencvSharp，仅支持 tag36h11,tag25h9,tag16h5，如有需要可自行添加。

1. 首先要安装Opencvsharp(推荐使用Nuget)
2. 直接运行Program.cs即可