9. AprilTag recognition

9.1. Code

example:

from mpython import *
from camera import *
import time

camera = CameraV831(tx=Pin.P16, rx=Pin.P15)
camera.apriltag_init()
camera.apriltag.set_tag_families(16)
while True:
    camera.apriltag.recognize()
    if camera.apriltag.tag_family != None:
        print(camera.apriltag.tag_id)
        print(camera.apriltag.x_tran)
        print(camera.apriltag.x_rol)
        print(camera.apriltag.length)
    time.sleep_ms(20)

9.2. mPython graphical example