This block starts the AprilTag detection system and configures:
- The AprilTag family
- The camera resolution
It must be used before analysing camera images.
AprilTag Families
16h5, 25h9, 36h11
| Family | Description | Recommended use |
| 16h5 | Uses a 4 × 4 internal data pattern and provides fast processing | Real-time robotics and beginner projects |
| 25h9 | Uses a 5 × 5 internal data pattern and balances capacity and speed | General identification projects |
| 36h11 | Uses a 6 × 6 internal data pattern and supports more unique IDs | Projects requiring a larger tag set |
Camera Resolutions
| Resolution | Advantage | Limitation |
| 160 × 120 | Faster image processing and higher detection rate | Lower image detail and shorter practical detection range |
| 240 × 240 | Better image detail and improved detection of smaller or distant tags | Requires more processing time |
For most moving-robot applications, begin with 160 × 120. Use 240 × 240 when detecting smaller or more distant tags is more important than rapid response.
Important: Selecting the wrong AprilTag family prevents the printed tag from being detected.