AprilTag.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <wpi/RawFrame.h>
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
 
#include "frc/geometry/Pose3d.h"
 
namespace frc {
 
/**
 * Represents an AprilTag's metadata.
 */
struct WPILIB_DLLEXPORT AprilTag {
  /// The tag's ID.
  int ID;
 
  /// The tag's pose.
  Pose3d pose;
 
  bool operator==(const AprilTag&) const = default;
 
  static bool Generate36h11AprilTagImage(wpi::RawFrame* frame, int id);
  static bool Generate16h5AprilTagImage(wpi::RawFrame* frame, int id);
};
 
WPILIB_DLLEXPORT
void to_json(wpi::json& json, const AprilTag& apriltag);
 
WPILIB_DLLEXPORT
void from_json(const wpi::json& json, AprilTag& apriltag);
 
}  // namespace frc