EOCV-AprilTag-Plugin

A plug and play module for detecting AprilTags on an FTC robot, designed to be used from EasyOpenCV

Installation instructions:

This library is now packaged in the official upstream SDK! No need to install anything manually.

AprilTag images

You can download a PDF with the first 20 tags of the 36h11 family here

Alternatively, you can find PNGs here

Changelog:

v2.2.0

• Updates to the latest version of AprilTag as of 25 May 2026

v2.1.0

• Updates to the latest version of AprilTag as of 8 June 2024

v2.0.0

• API CHANGE: 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);
• Updates to the latest version of AprilTag as of 6 May 2023

v1.1.1

• Fixes OpenCV-Repackaged dependency to be compileOnly
• Removes need to link against OpenCV native library
• Fixes buffer overrun when creating JNI detector context
• Prints library version in static initializer

v1.1.0

• Updates to latest version of AprilTag as of 30 March 2022
• Fixes small memory leak for frames where no detections were found
• Protects against NULL pointers in native JNI code
• Updates 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!

v1.0.0

• Initial release