Develop

.github/workflows/build-multi-platform.yml

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+# This starter workflow is for a CMake project running on multiple platforms. There is a different starter workflow if you just want a single platform.
+# See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
+name: build on multi-platform
+
+on:
+  push:
+    branches: [ "develop" ]
+  pull_request:
+    branches: [ "develop" ]
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      # Set fail-fast to false to ensure that feedback is delivered for all matrix combinations. Consider changing this to true when your workflow is stable.
+      fail-fast: false
+
+      # Matrix strategy: Creates a full combination of Python versions × Platform configs
+      # Total jobs: 5 Python versions × 10 os = 50 jobs
+      matrix:
+        os: [ubuntu-24.04, ubuntu-24.04-arm, ubuntu-22.04, ubuntu-22.04-arm, ubuntu-slim, macos-26, macos-15, macos-14, windows-2025, windows-2022]
+        python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"]
+
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: recursive
+
+    - name: Set reusable strings
+      # Turn repeated input strings (such as the build output directory) into step outputs. These step outputs can be used throughout the workflow file.
+      id: strings
+      shell: bash
+      run: |
+        echo "build-output-dir=${{ github.workspace }}/build" >> "$GITHUB_OUTPUT"
+
+
+    - name: Display build configuration
+      shell: bash
+      run: |
+        echo "Building for:"
+        echo "  OS: ${{ matrix.os }}"
+        echo "  Python: ${{ matrix.python-version }}"
+        uname -m || echo "uname not available"
+
+    - name: setup Windows CL
+      uses: ilammy/msvc-dev-cmd@v1
+
+    - name: setup Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v6
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Install apriltag-opencv
+      run: |
+        pip install .
+
+
+    - name: Test Python Module Import
+      run: |
+        python -c "import apriltag; print('Successfully imported apriltag'); detector = apriltag.apriltag(family='tag36h11'); print(f'Created detector: {detector}')"

.github/workflows/deploy_manylinux_aarch64.yml

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+name: PyPI manylinux_aarch64 deployer
+on:
+  push:
+    tags:
+      - 'v*'
+  workflow_dispatch:
+
+jobs:
+  # Build and deploy manylinux_aarch64 wheels
+  Linux-aarch64-build:
+    runs-on: ubuntu-24.04-arm
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: recursive
+
+      - name: Build manylinux_aarch64 wheels
+        uses: pypa/cibuildwheel@v3.3.0
+        env:
+          CIBW_ARCHS_LINUX: "aarch64"
+          CIBW_BUILD: cp310-* cp311-* cp312-* cp313-* cp314-*
+      - name: Upload manylinux2014_aarch64 wheels to PyPI
+        env:
+          TWINE_USERNAME: ${{ secrets.TWINE_USERNAME }}
+          TWINE_PASSWORD: ${{ secrets.TWINE_PASSWORD }}
+        run: |
+          ls -l ./wheelhouse
+          pip install -U packaging twine
+          twine upload --skip-existing ./wheelhouse/*.whl

.github/workflows/deploy_manylinux_x86_64.yml

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+name: PyPI manylinux_x86_64 deployer
+on:
+  push:
+    tags:
+      - 'v*'
+  workflow_dispatch:
+
+jobs:
+  # Build and deploy manylinux_x86_64 wheels
+  # follow numpy schema: https://pypi.org/project/numpy/#files
+  Linux-x86-build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: recursive
+      - name: Build manylinux_x86_64 wheels
+        uses: pypa/cibuildwheel@v3.3.0
+        env:
+          CIBW_ARCHS_LINUX: "x86_64"
+          CIBW_BUILD: cp310-* cp311-* cp312-* cp313-* cp314-*
+      - name: Upload manylinux2014_x86_64 wheels to PyPI
+        env:
+          TWINE_USERNAME: ${{ secrets.TWINE_USERNAME }}
+          TWINE_PASSWORD: ${{ secrets.TWINE_PASSWORD }}
+        run: |
+          ls -l ./wheelhouse
+          pip install -U packaging twine
+          twine upload --skip-existing ./wheelhouse/*.whl

.github/workflows/deploy_source.yml

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+name: PyPI source deployer
+on:
+  push:
+    tags:
+      - 'v*'
+
+jobs:
+    # Build and deploy source distribution
+    source-deploy:
+        runs-on: ubuntu-latest
+        steps:
+        - name: Check out repository
+          uses: actions/checkout@v6
+          with:
+                submodules: recursive
+        - name: Install Python 3.12
+          uses: actions/setup-python@v6
+          with:
+            python-version: 3.12
+        - name: Build source distribution
+          run: |
+            python -m pip install --upgrade build
+            python -m build --sdist
+        - name: Upload source package to PyPI
+          env:
+            TWINE_USERNAME: ${{ secrets.TWINE_USERNAME }}
+            TWINE_PASSWORD: ${{ secrets.TWINE_PASSWORD }}
+          run: |
+            pip install twine
+            twine upload dist/*

.github/workflows/deploy_win_macos.yml

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+name: PyPI win and macos deployer
+on:
+  push:
+    tags:
+      - 'v*'
+  workflow_dispatch:
+
+jobs:
+  # Build and deploy Windows AMD64, macOS x86 & macOS arm64 wheels
+  Matrix-build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [windows-latest, macos-latest]
+    steps:
+    - name: Check out repository
+      uses: actions/checkout@v6
+      with:
+        submodules: recursive
+    - name: Install Python 3.x
+      uses: actions/setup-python@v6
+      with:
+        python-version: 3.x
+    - name: Build wheels
+      uses: pypa/cibuildwheel@v3.3.0
+      env:
+        CIBW_ARCHS_WINDOWS: "AMD64"
+        CIBW_ARCHS_MACOS: "x86_64 arm64 universal2"
+        # Does not fail at unsupported Python versions!
+        CIBW_BUILD: cp310-* cp311-* cp312-* cp313-* cp314-*
+    - name: Upload wheels
+      env:
+        TWINE_USERNAME: ${{ secrets.TWINE_USERNAME }}
+        TWINE_PASSWORD: ${{ secrets.TWINE_PASSWORD }}
+      run: |
+        ls -l ./wheelhouse
+        pip install twine
+        twine upload --skip-existing ./wheelhouse/*.whl

.gitignore

@@ -205,3 +205,6 @@ cython_debug/
 marimo/_static/
 marimo/_lsp/
 __marimo__/
+
+.*
+!.github

.gitmodules

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+[submodule "src/apriltag/apriltag"]
+	path = src/apriltag/apriltag
+	url = https://github.com/AprilRobotics/apriltag

CMakeLists.txt

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+foreach(X IN ITEMS apriltag_detect.docstring apriltag_estimate_tag_pose.docstring apriltag_pywrap.c CMakeLists.txt)
+    configure_file(
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/${X}
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/apriltag/apriltag/${X}
+    COPYONLY
+)
+endforeach()
+
+# Top-level CMakeLists.txt for scikit-build-core
+cmake_minimum_required(VERSION 3.16)
+project(${SKBUILD_PROJECT_NAME}
+        VERSION ${SKBUILD_PROJECT_VERSION}
+        DESCRIPTION "Python wrapper for the AprilTag visual fiducial detector"
+        LANGUAGES C)
+
+# Set rpath for shared libraries to be found at runtime
+if(APPLE)
+    set(CMAKE_INSTALL_RPATH "@loader_path")
+elseif(UNIX)
+    set(CMAKE_INSTALL_RPATH "$ORIGIN")
+endif()
+set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+
+
+# Find Python and NumPy
+find_package(Python3 REQUIRED COMPONENTS Development.Module NumPy)
+message(STATUS "Found Python ${Python3_VERSION}")
+
+add_subdirectory(src/apriltag/apriltag)
+
+# Install the Python module
+# scikit-build-core will automatically handle installation to the correct location
+install(TARGETS apriltag.${Python3_SOABI}
+        LIBRARY DESTINATION apriltag
+        RUNTIME DESTINATION apriltag)
+
+install(TARGETS apriltag
+        LIBRARY DESTINATION apriltag
+        RUNTIME DESTINATION apriltag)