AprilTagDetector

class robotpy_apriltag.AprilTagDetector

Bases: pybind11_object

An AprilTag detector engine. This is expensive to set up and tear down, so most use cases should only create one of these, add a family to it, set up any other configuration, and repeatedly call Detect().

class Config

Bases: pybind11_object

Detector configuration.

class QuadThresholdParameters

Bases: pybind11_object

Quad threshold parameters.

add_family(fam: str, bits_corrected: SupportsInt | SupportsIndex = 2) → bool

Adds a family of tags to be detected.

Parameters:

• fam – Family name, e.g. “tag16h5”

• bits_corrected – Maximum number of bits to correct

Returns:

False if family can’t be found

clear_families() → None

Unregister all families.

close() → None

Frees all resources associated with this detector

detect(image: collections.abc.Buffer) → list[robotpy_apriltag._apriltag.AprilTagDetection]

Detect tags from an 8-bit grayscale image with shape (height, width)

Returns:

list of results

get_config() → robotpy_apriltag._apriltag.AprilTagDetector.Config

Gets detector configuration.

Returns:

Configuration

get_quad_threshold_parameters() → robotpy_apriltag._apriltag.AprilTagDetector.QuadThresholdParameters

Gets quad threshold parameters.

Returns:

Parameters

remove_family(fam: str) → None

Removes a family of tags from the detector.

Parameters:

fam – Family name, e.g. “tag16h5”

set_config(config: robotpy_apriltag._apriltag.AprilTagDetector.Config) → None

Sets detector configuration.

Parameters:

config – Configuration

set_quad_threshold_parameters(params: robotpy_apriltag._apriltag.AprilTagDetector.QuadThresholdParameters) → None

Sets quad threshold parameters.

Parameters:

params – Parameters