VPI 4.0 on JetPack 6 - AprilTag detection

Robotics & Edge Computing Jetson & Embedded Systems Jetson Orin NX
1

Hello,
we need to use CUDA-accelerated AprilTag detection on OrinNX, but we find some quirks.
First, the current JetPack 6.2 doesn’t seem to have the VPI headers (it has everything but the AprilTag one), so we found a library online that was from JP5 and seems to work fine.
Problem is, it only supports tag 36h11 family.
Seems like there is no native support to AprilTag CUDA library in VPI 3 that is the latest available on JP6.
We see that full AprilTag support is available on VPI 4 on JP7, including other tags families, but JP7 cannot be installed to the OrinNX.
Any clues from your end on how to run GPU-accelerated tags on JP6?
Best Regards.

5

Hi,

We check the header of VPI3.2 (JetPack 6) and VPI 4.0 (JetPack 7).
The support for AprilTag is identical.

VPI3.2:
https://docs.nvidia.com/vpi/3.2/AprilTags_8h_source.html

 typedef enum
 {
     VPI_APRILTAG_INVALID = 0,
     VPI_APRILTAG_16H5 = 1,
     VPI_APRILTAG_25H9 = 2,
     VPI_APRILTAG_36H10 = 3,
     VPI_APRILTAG_36H11 = 4,
     VPI_APRILTAG_CIRCLE21H7 = 5,
     VPI_APRILTAG_CIRCLE49H12 = 6,
     VPI_APRILTAG_CUSTOM48H12 = 7,
     VPI_APRILTAG_STANDARD41H12 = 8,
     VPI_APRILTAG_STANDARD52H13 = 9
 } VPIAprilTagFamily;

VPI4.0:
https://docs.nvidia.com/vpi/4.0/AprilTags_8h_source.html

 typedef enum
 {
     VPI_APRILTAG_INVALID = 0,
     VPI_APRILTAG_16H5 = 1,
     VPI_APRILTAG_25H9 = 2,
     VPI_APRILTAG_36H10 = 3,
     VPI_APRILTAG_36H11 = 4,
     VPI_APRILTAG_CIRCLE21H7 = 5,
     VPI_APRILTAG_CIRCLE49H12 = 6,
     VPI_APRILTAG_CUSTOM48H12 = 7,
     VPI_APRILTAG_STANDARD41H12 = 8,
     VPI_APRILTAG_STANDARD52H13 = 9
 } VPIAprilTagFamily;

Could you double-check if VPI 3.2 can meet your requirements?
Thanks.

6

We are in 3.2 and this is the vpi/algo folder content:

image
image1179×138 19 KB

No AprilTag headers are present… any advice?

7

Hi,

We can find it in the folder below on the JetPack 6.2.1 environment:

/opt/nvidia/vpi3/include/vpi/algo/AprilTags.h

If the file isn’t present on your side, could you reinstall it to see if it helps?

Thanks.

8

We updated to the latest release and revision of the VPI, and it finally appeared.

Best Regards.