Pywayne Cv Apriltag Detector
by @wangyendt
AprilTag corner detection for camera calibration and pose estimation. Use when working with pywayne.cv.apriltag_detector module to detect AprilTag fiducial m...
clawhub install apriltag-detectorπ About This Skill
name: pywayne-cv-apriltag-detector description: AprilTag corner detection for camera calibration and pose estimation. Use when working with pywayne.cv.apriltag_detector module to detect AprilTag fiducial markers in images, with automatic library installation via gettool, drawing detection results with corners and IDs, and support for both file paths and numpy arrays.
Pywayne AprilTag Detector
This module detects AprilTag fiducial markers for camera calibration and pose estimation.
Quick Start
from pywayne.cv.apriltag_detector import ApriltagCornerDetectorCreate detector
detector = ApriltagCornerDetector()Detect from file path
detections = detector.detect('test.png', show_result=True)Detect from numpy array
import cv2
image = cv2.imread('test.png')
detections = detector.detect(image)
Detection Methods
detect()
Detect AprilTags in an image:
detections = detector.detect(
image, # File path, Path object, or numpy array
show_result=False # Show visualization window
)
Returns list of detection results with:
id: Tag IDhamming_distance: Detection confidencecenter: Tag center coordinates (x, y)corners: 4 corner coordinatesdetect_and_draw()
Detect AprilTags and draw results on original image:
result_image = detector.detect_and_draw(image)
cv2.imshow('Detection Result', result_image)
cv2.waitKey(0)
Visualization includes:
Requirements
cv2 (OpenCV) - Image processingnumpy - Array operationsgettool - Downloads apriltag_detection library automaticallyLibrary Installation
The detector automatically checks for and installs the apriltag_detection library using gettool if not found.
Detection Result Format
Each detection contains:
| Field | Description |
|--------|-------------|
| id | Tag identifier |
| hamming_distance | Hamming distance (lower = more confident) |
| center | Tag center as (x, y) tuple |
| corners | 4 corner coordinates as [(x1, y1), (x2, y2), (x3, y3), (x4, y4)] |
Notes
π‘ Examples
from pywayne.cv.apriltag_detector import ApriltagCornerDetectorCreate detector
detector = ApriltagCornerDetector()Detect from file path
detections = detector.detect('test.png', show_result=True)Detect from numpy array
import cv2
image = cv2.imread('test.png')
detections = detector.detect(image)