apriltag module

A Viam module that uses apriltags as an implementation for a PoseTracker component.

Configuration and Usage

Navigate to the CONFIGURE tab of your machine in the Viam app. Add pose_tracker / apriltag to your machine.

On the new component panel, copy and paste the following attribute template into your camera’s attributes field, editing the attributes as applicable:

{
  "camera_name": "camera-1",
  "tag_family": "tag36h11",
  "tag_width_mm": 29.5
}

Note

For more information, see Configure a Machine.

Attributes

The following attributes are available for viam:universal-robots arms:

Name	Type	Inclusion	Description
camera_name	string	Required	The name of the camera to depend on.
tag_family	string	Required	The Apriltag 'tag family' to detect.
tag_width_mm	float	Required	The width of the tags to be detected, measured from tag corner to tag corner and specified in mm.

Generating Apriltags

To get quickly started tracking poses of Apriltags the example file tag36h11_1-30.pdf can be printed and used with the example configuration above. There exist a number of online generators that can be used to create similar files suitable to your specific needs.

For more information about the Apriltag specification and how they can be used see the AprilRobotics repo.