MiniFRC-Tags is a small library that simplifies setup of AprilTags for MiniFRC. It is built upon OpenCV and pyAprilTags. 1/4 and 1/2 scale 36h11 tags are included in a printable PDF with IDs 1 through 16, the same standard that FRC uses.

opencv-python

pyapriltags

picamera2 - Required only when using Raspberry Pi cameras

I have gotten away with using pip3 to install these on Linux, however on Raspberry Pi it is recommended to use apt install python-<library>

• Plug in a video capture device
• Read and modify the __init__ code in main.py as desired to change parameters such as image resolution, processing threads, etc.
• On the first run, the code will only calibrate your camera. Read calibrate.py for details on how this works.
• See example below to start your own solution, or run example.py

minifrc_tags = MiniTags()
# On first run this generates camera.npy
# On subsequent runs it reads from camra.npy
minifrc_tags.calibrate()  

...

while True:
  tags = minifrc_tags.get_tags()
  for tag in tags:
    print(tag.tag_id)
    print(tag.pose_R)
    print(tag.pose_T)
    # todo - orient my robot to the tag!

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