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Title: feat(perception): AprilTag 3D detector with solvePnP TF transforms by Null-Phnix · Pull Request #2092 · dimensionalOS/dimos · GitHub

Open Graph Title: feat(perception): AprilTag 3D detector with solvePnP TF transforms by Null-Phnix · Pull Request #2092 · dimensionalOS/dimos

X Title: feat(perception): AprilTag 3D detector with solvePnP TF transforms by Null-Phnix · Pull Request #2092 · dimensionalOS/dimos

Description: Dimensional is the agentic operating system for physical space. Vibecode humanoids, quadrupeds, drones, and other hardware platforms in natural language and build multi-agent systems that work seamlessly with physical input (cameras, lidar, actuators). - feat(perception): AprilTag 3D detector with solvePnP TF transforms by Null-Phnix · Pull Request #2092 · dimensionalOS/dimos

Open Graph Description: Summary Implements the AprilTag/ArUco fiducial marker 3D detector requested in #2036. Consumes color_image + camera_info, detects markers via OpenCV ArUco, and estimates 6-DOF pose with solvePnP us...

X Description: Summary Implements the AprilTag/ArUco fiducial marker 3D detector requested in #2036. Consumes color_image + camera_info, detects markers via OpenCV ArUco, and estimates 6-DOF pose with solvePnP us...

Opengraph URL: https://github.com/dimensionalOS/dimos/pull/2092

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og:image:altSummary Implements the AprilTag/ArUco fiducial marker 3D detector requested in #2036. Consumes color_image + camera_info, detects markers via OpenCV ArUco, and estimates 6-DOF pose with solvePnP us...
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%%{init: {'theme': 'neutral'}}%% sequenceDiagram participant Camera participant AprilTagDetectionModule participant AprilTagDetector participant TF as LCMTF (self.tf) participant annotated_image as Out[Image] participant tags_json as Out[str] Camera->>AprilTagDetectionModule: color_image (Image) Camera->>AprilTagDetectionModule: camera_info (CameraInfo) Note over AprilTagDetectionModule: cache _latest_camera_info AprilTagDetectionModule->>AprilTagDetectionModule: sharpness_barrier + backpressure AprilTagDetectionModule->>AprilTagDetector: detect(image, camera_info) AprilTagDetector->>AprilTagDetector: ArucoDetector.detectMarkers(grey) AprilTagDetector->>AprilTagDetector: "solvePnP -> rvec, tvec" AprilTagDetector->>AprilTagDetector: "Rodrigues -> R_mat -> Quaternion" AprilTagDetector-->>AprilTagDetectionModule: list[AprilTagDetection] AprilTagDetectionModule->>TF: publish(Transform per tag) AprilTagDetectionModule->>annotated_image: publish(annotated Image) AprilTagDetectionModule->>tags_json: publish(JSON string) Loading https://github.com/dimensionalOS/dimos/pull/2092#gh-light-mode-only
%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%% sequenceDiagram participant Camera participant AprilTagDetectionModule participant AprilTagDetector participant TF as LCMTF (self.tf) participant annotated_image as Out[Image] participant tags_json as Out[str] Camera->>AprilTagDetectionModule: color_image (Image) Camera->>AprilTagDetectionModule: camera_info (CameraInfo) Note over AprilTagDetectionModule: cache _latest_camera_info AprilTagDetectionModule->>AprilTagDetectionModule: sharpness_barrier + backpressure AprilTagDetectionModule->>AprilTagDetector: detect(image, camera_info) AprilTagDetector->>AprilTagDetector: ArucoDetector.detectMarkers(grey) AprilTagDetector->>AprilTagDetector: "solvePnP -> rvec, tvec" AprilTagDetector->>AprilTagDetector: "Rodrigues -> R_mat -> Quaternion" AprilTagDetector-->>AprilTagDetectionModule: list[AprilTagDetection] AprilTagDetectionModule->>TF: publish(Transform per tag) AprilTagDetectionModule->>annotated_image: publish(annotated Image) AprilTagDetectionModule->>tags_json: publish(JSON string) Loading https://github.com/dimensionalOS/dimos/pull/2092#gh-dark-mode-only
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