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        "author": "Bernd Winkler",
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        "description": "Apriltag\n--------\napriltag marker detection\nbased on <https://github.com/swatbotics/apriltag>\n\nDependencies\n------------\n\n  - OpenCV (optional)\n\nExample\n-------\n```python\nimport apriltag\nimport cv2\nimg = cv2.imread('apriltag_foto.jpg'.cv2.IMREAD_GRAYSCALE)\ndetector = apriltag.Detector()\nresult = detector.detect(img)\n```\n\n\nresult is in the form of\n```\n[DetectionBase(tag_family='tag36h11', tag_id=2, hamming=0, goodness=0.0, decision_margin=98.58241271972656, homography=array([[ -1.41302664e-01,   1.08428082e+00,   1.67512900e+01],\n   [ -8.75899366e-01,   1.50245469e-01,   1.70532040e+00],\n   [ -4.89183533e-04,   2.12210247e-03,   6.02052342e-02]]), center=array([ 278.23643912,   28.32511859]), corners=array([[ 269.8939209 ,   41.50381088],\n   [ 269.57183838,   11.79248142],\n   [ 286.1383667 ,   15.84242821],\n   [ 286.18066406,   43.48323059]])),\nDetectionBase(tag_family='tag36h11', ... etc\n```\n\n\nMultiple options can be specified to tune the detection performance:\n--------------------------------------------------------------------\n```python\noptions = apriltag.Detectoroptions(families='tag36h11',\n                                 border=1,\n                                 nthreads=4,\n                                 quad_decimate=1.0,\n                                 quad_blur=0.0,\n                                 refine_edges=True,\n                                 refine_decode=False,\n                                 refine_pose=False,\n                                 debug=False,\n                                 quad_contours=True)\ndetector = apriltag.Detector()\nresult = detector.detect(img)\n```\n\nAccess values\n--------\n```python\ntf = result[0].tag_family\ncx = result[0].center[0]\n.",
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        "name": "apriltag",
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