how to detect apriltag using stereo cam

edit

Iam using stereo USB cam to detect Apriltag system but i think all what i get the tf between one of the cameras and the apriltag , is there any possibility to get the distance of the apriltag based on the triangulation or any other way here is my edit for the apriltag launch file

<launch>
  <arg name="launch_prefix" default="" /> <!-- set to value="gdbserver localhost:10000" for remote debugging -->
  <arg name="node_namespace" default="apriltag_ros_continuous_node" />
  <arg name="camera_name" default="/stereo/left" />
  <arg name="camera_frame" default="/stereo/left" />
  <arg name="image_topic" default="image_raw" />
  <arg name="camera_name1" default="/stereo/right" />
  <arg name="camera_frame1" default="/stereo/right" />
  <arg name="image_topic1" default="image_raw" />

  <!-- Set parameters -->
  <rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml" ns="$(arg node_namespace)" />
  <rosparam command="load" file="$(find apriltag_ros)/config/tags.yaml" ns="$(arg node_namespace)" />

  <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace)" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)" >
    <!-- Remap topics from those used in code to those on the ROS network -->
    <remap from="image_rect" to="$(arg camera_name)/$(arg image_topic)" />
    <remap from="camera_info" to="$(arg camera_name)/camera_info" />
    <remap from="image_rect1" to="$(arg camera_name1)/$(arg image_topic1)" />
    <remap from="camera_info1" to="$(arg camera_name1)/camera_info1" />

    <param name="camera_frame" type="str" value="$(arg camera_frame)" />
    <param name="publish_tag_detections_image" type="bool" value="true" />      <!-- default:
 false -->
<param name="camera_frame1" type="str" value="$(arg camera_frame1)" />
    <param name="publish_tag_detections_image1" type="bool" value="true" />      <!-- default: false -->
  </node>
</launch>