## apriltag-tracker by [shrews-testing](https://app.viam.com/namespace/shrews-testing)

Public

Continuously detects AprilTags and exposes them via two complementary models. `april_tag_visualizer` (rdk:service:world_state_store) publishes detected tags as transforms for the Viam 3D scene tab; configurable via `camera_name`, `tag_family`, `tag_width_mm`, `detection_rate_hz`, `centroid_alpha`, and `motion_service_name`. The visualizer's `do_command` supports `list_tags`, `list_uuids`, `get_pose` (returns origin and centroid in camera and world frames), and `get_transforms`. `overlay_camera` (rdk:component:camera) wraps a source camera and returns annotated JPEG frames with detected tag corners drawn for the CONTROL tab; configurable via `camera_name` and `tag_family`. Source and full docs: [GitHub - viam-labs/apriltag-tracker](https://github.com/viam-labs/apriltag-tracker)

### shrews-testing:apriltag-tracker:april_tag_visualizer

rdk:service:world_state_store

Continuous AprilTag detector that publishes detected tags as world state transforms.

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### shrews-testing:apriltag-tracker:overlay_camera

rdk:component:camera

Wraps a camera and draws AprilTag corner polygons and ids on each frame.

Latest version

0.9.9•04/27/2026•

linux

arm64

linux

amd64

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