This repository contains pre-generated PDFs of AprilTag 3 tags. Currently available tags are from the tag36h11 family, in sizes of 100mm and 200mm, in US Letter and A4 paper sizes.
The tags were converted from PNG source files from the apriltag-imgs repository using ImageMagick. Thanks to @cbteeple for initially developing the technique.
To reproduce these files you may need to modify the ImageMagick security policy to allow writing PDFs.
The following command creates 300dpi, 8.5 x 11in (US Letter) PDF. The 10-pixel wide tag is scaled to be 200mm. (The constant 25.4 is the conversion factor from inches to mm.) It also adds a thin border around the tag and writes some reference information 0.25in from the bottom of the page; these features can be omitted by deleting the corresponding lines.
convert tag36h11/tag36_11_00005.png \
-density 300 \
-scale $((100 * 200./10 * 300/25.4))% \
-bordercolor black -border 1 \
-gravity center -extent $((300*8.5))x$((300*11)) \
-gravity south -annotate +0+$((300*0.25)) 'AprilTag family = tag36h11, size = 200 mm, id = 5' \
tag.pdf
For A4-sized PDFs, a density of 120 dots per cm is used.