AprilTag 36h10
AprilTag 36h10 holds 2320 markers of
6×6 bits. In OpenCV it is
cv2.aruco.DICT_APRILTAG_36h10.
Generate a AprilTag 36h10 board
The numbers
| OpenCV name | cv2.aruco.DICT_APRILTAG_36h10 |
| Bits in a marker | 6 × 6 = 36 |
| Markers available | 2320, with IDs 0 to 2319 |
| Printed width | 8 cells, border included |
| Bits the decoder repairs | 4 |
| Cell size on a 100 mm marker | 12.5 mm |
| Pixels wanted in the image | 96 (floor 32) |
| Range for a 100 mm marker | about 1.7 m |
Range assumes a camera 1920 px wide, 60 degree horizontal field of view, which is a focal length of about 1663 pixels, and a marker seen straight on.
A smaller dictionary is tougher
AprilTag 36h10 repairs 4 bits. AprilTag 36h11 holds the same markers but repairs 5. If you need 587 markers or fewer, prefer it.
When to use it
Six bit markers are the usual default. They carry enough redundancy to shrug off a damaged or partly shadowed cell, at a modest cost in range. This is an AprilTag family. Pick it when the rest of the stack already uses AprilTag, for example in ROS. OpenCV reads it through cv2.aruco just like an ArUco dictionary. With 2320 markers it covers a large fleet of tagged objects, at the cost of a smaller repair budget.
The rest of the family
| Dictionary | Markers | Bits repaired |
|---|---|---|
| AprilTag 36h10 | 2320 | 4 |
| AprilTag 36h11 | 587 | 5 |