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 inmain.pyas desired to change parameters such as image resolution, processing threads, etc. - On the first run, the code will only calibrate your camera. Read
calibrate.pyfor 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!Copyright © 2024 ddthj
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