frc::AprilTagDetector Class Reference

An AprilTag detector engine. More...

#include <frc/apriltag/AprilTagDetector.h>

Classes
struct	Config
	Detector configuration. More...
struct	QuadThresholdParameters
	Quad threshold parameters. More...
class	Results
	Array of detection results. More...

Public Member Functions
	AprilTagDetector ()
	~AprilTagDetector ()
	AprilTagDetector (const AprilTagDetector &)=delete
AprilTagDetector &	operator= (const AprilTagDetector &)=delete
	AprilTagDetector (AprilTagDetector &&rhs)
AprilTagDetector &	operator= (AprilTagDetector &&rhs)
Results	Detect (int width, int height, int stride, uint8_t *buf)
	Detect tags from an 8-bit image. More...
Results	Detect (int width, int height, uint8_t *buf)
	Detect tags from an 8-bit image. More...
Configuration functions
void	SetConfig (const Config &config)
	Sets detector configuration. More...
Config	GetConfig () const
	Gets detector configuration. More...
void	SetQuadThresholdParameters (const QuadThresholdParameters &params)
	Sets quad threshold parameters. More...
QuadThresholdParameters	GetQuadThresholdParameters () const
	Gets quad threshold parameters. More...
Tag family functions
bool	AddFamily (std::string_view fam, int bitsCorrected=2)
	Adds a family of tags to be detected. More...
void	RemoveFamily (std::string_view fam)
	Removes a family of tags from the detector. More...
void	ClearFamilies ()
	Unregister all families. More...

Detailed Description

An AprilTag detector engine.

This is expensive to set up and tear down, so most use cases should only create one of these, add a family to it, set up any other configuration, and repeatedly call Detect().

Constructor & Destructor Documentation

AprilTagDetector() [1/3]

frc::AprilTagDetector::AprilTagDetector

(

)

~AprilTagDetector()

frc::AprilTagDetector::~AprilTagDetector ( )

inline

AprilTagDetector() [2/3]

frc::AprilTagDetector::AprilTagDetector ( const AprilTagDetector &  )

delete

AprilTagDetector() [3/3]

frc::AprilTagDetector::AprilTagDetector ( AprilTagDetector &&  rhs )

inline

Member Function Documentation

AddFamily()

bool frc::AprilTagDetector::AddFamily	(	std::string_view	fam,
		int	bitsCorrected = 2
	)

Adds a family of tags to be detected.

Parameters

fam	Family name, e.g. "tag16h5"
bitsCorrected	Maximum number of bits to correct

Returns

False if family can't be found

ClearFamilies()

void frc::AprilTagDetector::ClearFamilies

(

)

Unregister all families.

Detect() [1/2]

Results frc::AprilTagDetector::Detect	(	int	width,
		int	height,
		int	stride,
		uint8_t *	buf
	)

Detect tags from an 8-bit image.

The image must be grayscale.

Parameters

width	width of the image
height	height of the image
stride	number of bytes between image rows (often the same as width)
buf	image buffer

Returns

Results (array of AprilTagDetection pointers)

Detect() [2/2]

Results frc::AprilTagDetector::Detect ( int  width, int  height, uint8_t *  buf  )

inline

Detect tags from an 8-bit image.

The image must be grayscale.

Parameters

width	width of the image
height	height of the image
buf	image buffer

Returns

Results (array of AprilTagDetection pointers)

GetConfig()

Config frc::AprilTagDetector::GetConfig

(

)

const

Gets detector configuration.

Returns

Configuration

GetQuadThresholdParameters()

QuadThresholdParameters frc::AprilTagDetector::GetQuadThresholdParameters

(

)

const

Gets quad threshold parameters.

Returns

Parameters

operator=() [1/2]

AprilTagDetector & frc::AprilTagDetector::operator=

(

AprilTagDetector &&

rhs

)

operator=() [2/2]

AprilTagDetector & frc::AprilTagDetector::operator= ( const AprilTagDetector &  )

delete

RemoveFamily()

void frc::AprilTagDetector::RemoveFamily

(

std::string_view

fam

)

Removes a family of tags from the detector.

Parameters

fam	Family name, e.g. "tag16h5"

SetConfig()

void frc::AprilTagDetector::SetConfig

(

const Config &

config

)

Sets detector configuration.

Parameters

config

Configuration

SetQuadThresholdParameters()

void frc::AprilTagDetector::SetQuadThresholdParameters

(

const QuadThresholdParameters &

params

)

Sets quad threshold parameters.

Parameters

params

Parameters

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The documentation for this class was generated from the following file:

• frc/apriltag/AprilTagDetector.h