made with the help of this website: https://pyimagesearch.com/2020/11/02/apriltag-with-python/

focal length calculated with code from here: https://pyimagesearch.com/2015/01/19/find-distance-camera-objectmarker-using-python-opencv/

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Dependancies

opencv: sudo apt-get install python3-opencv

apriltag 0.0.16: pip install apriltag

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Before First Use

1. Ensure focal length is calculated for your camera
2. change device_number to your camera
3. Measure width of your apriltag in inches and set variable KNOWN_TAG_WIDTH to that value