Integrate camera

apriltag_cc.py

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+
+import cv2
+from apriltag import apriltag
+
+# Create detector once
+detector = apriltag("tag36h11")
+
+# Open default camera
+cap = cv2.VideoCapture(0)
+
+cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
+cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
+
+while True:
+    ok, frame = cap.read()
+
+    if not ok:
+        print("Failed to read camera frame")
+        break
+
+    # AprilTag detector expects grayscale image
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
+    # Detect AprilTags
+    detections = detector.detect(gray)
+
+    for detection in detections:
+
+        # Your library returns a dictionary:
+        # {
+        #   'hamming': ...,
+        #   'margin': ...,
+        #   'id': ...,
+        #   'center': ...,
+        #   'lb-rb-rt-lt': ...,
+        #   'homography': ...
+        # }
+
+        corners = detection["lb-rb-rt-lt"].astype(int)
+        tag_id = detection["id"]
+        center = detection["center"].astype(int)
+
+        # Draw tag boundary
+        cv2.polylines(
+            frame,
+            [corners],
+            True,
+            (0, 255, 0),
+            2
+        )
+
+        # Draw tag center
+        cv2.circle(
+            frame,
+            tuple(center),
+            5,
+            (0, 0, 255),
+            -1
+        )
+
+        # Display Tag ID
+        x, y = corners[0]
+
+        cv2.putText(
+            frame,
+            f"ID: {tag_id}",
+            (x, y - 10),
+            cv2.FONT_HERSHEY_SIMPLEX,
+            0.7,
+            (0, 255, 0),
+            2
+        )
+
+        print(
+            f"Tag ID: {tag_id}, "
+            f"Center: {center}, "
+            f"Decision Margin: {detection['margin']:.2f}"
+        )
+
+    cv2.imshow("AprilTag Detection", frame)
+
+    # Press Q to exit
+    if cv2.waitKey(1) & 0xFF == ord("q"):
+        break
+
+cap.release()
+cv2.destroyAllWindows()

deploy.md

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+# Local deployment
+
+## Build and install
+
+Clone the repository and enter it:
+
+```bash
+git clone <repository-url>
+cd apriltag
+```
+
+Configure a Release build, then build and install it:
+
+```bash
+cmake -B build -DCMAKE_BUILD_TYPE=Release
+cmake --build build --target install
+```
+
+The default install prefix is usually `/usr/local`. If your account cannot write
+there, run the install command with the appropriate administrator privileges, or
+configure CMake with a writable `CMAKE_INSTALL_PREFIX`.
+
+## Select the camera
+
+Before running, set the camera index in `apriltag_cc.py` to the correct device:
+
+```python
+cap = cv2.VideoCapture(0)
+```
+
+Replace `0` with the index for the desired camera. On Linux, camera device nodes
+are typically `/dev/video0`, `/dev/video1`, and so on; the intended camera may
+not be index `0`.
+
+## Run
+
+If your default Python package path is `/usr/local/lib/python3.12/dist-packages/`,
+run the script with the installed package directory included in `PYTHONPATH`:
+
+```bash
+PYTHONPATH=/usr/local/lib/python3.12/site-packages python3 apriltag_cc.py
+```
+
+Adjust the Python version and package path if your installation uses different
+locations.