A plug and play module for detecting AprilTags on an FTC robot, designed to be used from EasyOpenCV
IMPORTANT NOTE: This assumes you have already installed EasyOpenCV!
Download the latest release AAR from Maven Central. Release v2.1.0 is located here.
In the OnBotJava console, click the Upload Files button (to the left of the trash can), select the .aar
file you just downloaded, and wait while OnBotJava processes the library.
Congrats, you're ready to go! Now check out the example OpModes and pipeline in the examples directory.
IMPORTANT NOTE: This assumes you have already installed EasyOpenCV!
Open your FTC SDK Android Studio project
Open the build.gradle
file for the TeamCode module:
At the bottom, add this:
dependencies {
implementation 'org.openftc:apriltag:2.1.0'
}
Now perform a Gradle Sync:
Congrats, you're ready to go! Now check out the example OpModes and pipeline in the examples directory.
You can download a PDF with the first 20 tags of the 36h11 family here
Alternatively, you can find PNGs here
AprilTagPose
now provides the full 3x3 rotation matrix rather than precomputed euler angles. You can get euler angles the same way as with the IMU; i.e. Orientation.getOrientation(detection.pose.R, AxesReference.INTRINSIC, AxesOrder.YXZ, AngleUnit.DEGREES);
compileOnly
AprilTagDetectionPipeline
to create the native detector in the constructor instead of in init(). NOTE: You will need to copy-paste the updated file, as this file is not part of the binary release!