main.py

from pyb import USB_VCP
usb = USB_VCP()

import sensor, image, time, math, lcd

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA2) # we run out of memory if the resolution is much bigger...
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)  # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False)  # must turn this off to prevent image washout...
lcd.init() # Initialize the lcd screen.

f_x = (2.8 / 3.984) * 160 # find_apriltags defaults to this if not set
f_y = (2.8 / 2.952) * 120 # find_apriltags defaults to this if not set
c_x = 160 * 0.5 # find_apriltags defaults to this if not set (the image.w * 0.5)
c_y = 120 * 0.5 # find_apriltags defaults to this if not set (the image.h * 0.5)


def degrees(radians):
    return (180 * radians) / math.pi

while(True):
    img = sensor.snapshot()

    for tag in img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y): # defaults to TAG36H11
        img.draw_rectangle(tag.rect(), color = (255, 0, 0))
        img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
        #Check for all April Tag types
        if (tag.id() == 0)
        {
                lcd.write("Murnong")
        }
        elif (tag.id() == 1)
        {
                lcd.write("Kangaroo \n\r Grass")
        }

lcd.display(img) # Take a picture and display the image.