AprilCam
MCP server and gRPC daemon for AprilTag/ArUco perception on robotics playfields — tag positions, orientation, velocity, and homography for AI agents and robot control loops.
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AprilCam Docs
Navigation map for the AprilCam subsystem — daemon, MCP server, direct library, and the wire protocol.
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Overview
What AprilCam is, how the daemon / MCP server / clients fit together, and where to start.
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Using the MCP Server
How an AI agent drives AprilCam over the Model Context Protocol — the golden path, the coordinate system, and the full tool reference.
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Robot Direct API
High-frequency Python API for robot control loops — read tag positions and push live overlays directly over gRPC, bypassing the MCP layer.
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Operating the Daemon
Install, run, configure, and troubleshoot aprilcamd — the process that owns the cameras and does all vision.
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Daemon Wire Protocol
The gRPC control service and length-prefixed protobuf stream sockets the aprilcam daemon exposes — the wire-level contract beneath the Python client.
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Tag Detection Under Variable Lighting
Why tags drop out under glare and low contrast, and the multi-scale preprocessing pipeline that recovers 11/13 tags.