Here is the problem statement: there will be at most one AprilTag in view at all times and I need to find its approximate horizontal position in frame. The approximate size in frame of the tag might be useful but is not necessary. I don’t need the tag ID, its pose, or any other information.
I have tried the find_apriltags function and it can get the job done, but the distance the tag can be seen from is pretty limited unsurprisingly. I’m wondering if there is a way to modify the algorithm or create a new one to only detect a tag rather than read it, and hopefully bump up the range a bit. I’m thinking of using something like a blob finding algorithm to locate the tag most of the time since the background should be somewhat regular. What sort of algorithm is recommended for this purpose? I’ve done some testing and the best I’ve done so far is comparable range to find_apriltags_w_lens_zoom.py, though the current background is more chaotic than the intended background.