wpi::apriltag Namespace Reference

Classes
class	AprilTagDetection
	A detection of an AprilTag tag. More...
class	AprilTagDetector
	An AprilTag detector engine. More...
struct	AprilTagPoseEstimate
	A pair of AprilTag pose estimates. More...
class	AprilTagPoseEstimator
	Pose estimators for AprilTag tags. More...
struct	AprilTag
	Represents an AprilTag's metadata. More...
class	AprilTagFieldLayout
	Class for representing a layout of AprilTags on a field and reading them from a JSON format. More...

Enumerations
enum class	AprilTagField {   k2022RapidReact , k2023ChargedUp , k2024Crescendo , k2025ReefscapeAndyMark ,   k2025ReefscapeWelded , k2026RebuiltAndyMark , k2026RebuiltWelded , kDefaultField = k2026RebuiltWelded ,   kNumFields }
	Loadable AprilTag field layouts. More...

Functions
AprilTagDetector::Results	AprilTagDetect (AprilTagDetector &detector, cv::Mat &image)
WPILIB_DLLEXPORT void	to_json (wpi::util::json &json, const AprilTag &apriltag)
WPILIB_DLLEXPORT void	from_json (const wpi::util::json &json, AprilTag &apriltag)
WPILIB_DLLEXPORT void	to_json (wpi::util::json &json, const AprilTagFieldLayout &layout)
WPILIB_DLLEXPORT void	from_json (const wpi::util::json &json, AprilTagFieldLayout &layout)
WPILIB_DLLEXPORT AprilTagFieldLayout	LoadAprilTagLayoutField (AprilTagField field)
	Loads an AprilTagFieldLayout from a predefined field.

Enumeration Type Documentation

AprilTagField

enum class wpi::apriltag::AprilTagField

strong

Loadable AprilTag field layouts.

Enumerator
k2022RapidReact	2022 Rapid React.
k2023ChargedUp	2023 Charged Up.
k2024Crescendo	2024 Crescendo.
k2025ReefscapeAndyMark	2025 Reefscape AndyMark (see TU12).
k2025ReefscapeWelded	2025 Reefscape Welded (see TU12).
k2026RebuiltAndyMark	2026 Rebuilt Andymark.
k2026RebuiltWelded	2026 Rebuilt Welded.
kDefaultField	Alias to the current game.
kNumFields

Function Documentation

AprilTagDetect()

AprilTagDetector::Results wpi::apriltag::AprilTagDetect ( AprilTagDetector & detector, cv::Mat & image )

inline

from_json() [1/2]

WPILIB_DLLEXPORT void wpi::apriltag::from_json	(	const wpi::util::json &	json,
		AprilTag &	apriltag )

from_json() [2/2]

WPILIB_DLLEXPORT void wpi::apriltag::from_json	(	const wpi::util::json &	json,
		AprilTagFieldLayout &	layout )

LoadAprilTagLayoutField()

WPILIB_DLLEXPORT AprilTagFieldLayout wpi::apriltag::LoadAprilTagLayoutField

(

AprilTagField

field

)

Loads an AprilTagFieldLayout from a predefined field.

Parameters

field

The predefined field

Returns

AprilTagFieldLayout of the field

Deprecated

Use AprilTagFieldLayout::LoadField() instead

to_json() [1/2]

WPILIB_DLLEXPORT void wpi::apriltag::to_json	(	wpi::util::json &	json,
		const AprilTag &	apriltag )

to_json() [2/2]

WPILIB_DLLEXPORT void wpi::apriltag::to_json	(	wpi::util::json &	json,
		const AprilTagFieldLayout &	layout )