Package edu.wpi.first.apriltag

Class AprilTagDetector

java.lang.Object

edu.wpi.first.apriltag.AprilTagDetector

All Implemented Interfaces:

AutoCloseable

public class AprilTagDetector
extends Object
implements AutoCloseable

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().

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	AprilTagDetector.Config	Detector configuration.
static class	AprilTagDetector.QuadThresholdParameters	Quad threshold parameters.

Constructor Summary

Constructors

Constructor	Description
AprilTagDetector()	Constructs an AprilTagDetector.

Method Summary

Modifier and Type	Method	Description
void	addFamily(String fam)	Adds a family of tags to be detected.
void	addFamily(String fam, int bitsCorrected)	Adds a family of tags to be detected.
void	clearFamilies()	Unregister all families.
void	close()
AprilTagDetection[]	detect(Mat img)	Detect tags from an 8-bit image.
AprilTagDetector.Config	getConfig()	Gets detector configuration.
AprilTagDetector.QuadThresholdParameters	getQuadThresholdParameters()	Gets quad threshold parameters.
void	removeFamily(String fam)	Removes a family of tags from the detector.
void	setConfig(AprilTagDetector.Config config)	Sets detector configuration.
void	setQuadThresholdParameters(AprilTagDetector.QuadThresholdParameters params)	Sets quad threshold parameters.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AprilTagDetector

public AprilTagDetector()

Constructs an AprilTagDetector.

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

setConfig

public void setConfig(AprilTagDetector.Config config)

Sets detector configuration.

Parameters:

config - Configuration

getConfig

public AprilTagDetector.Config getConfig()

Gets detector configuration.

Returns:

Configuration

setQuadThresholdParameters

public void setQuadThresholdParameters(AprilTagDetector.QuadThresholdParameters params)

Sets quad threshold parameters.

Parameters:

params - Parameters

getQuadThresholdParameters

public AprilTagDetector.QuadThresholdParameters getQuadThresholdParameters()

Gets quad threshold parameters.

Returns:

Parameters

addFamily

public void addFamily(String fam)

Adds a family of tags to be detected.

Parameters:

fam - Family name, e.g. "tag16h5"

Throws:

IllegalArgumentException - if family name not recognized

addFamily

public void addFamily(String fam,
 int bitsCorrected)

Adds a family of tags to be detected.

Parameters:

fam - Family name, e.g. "tag16h5"

bitsCorrected - Maximum number of bits to correct

Throws:

IllegalArgumentException - if family name not recognized

removeFamily

public void removeFamily(String fam)

Removes a family of tags from the detector.

Parameters:

fam - Family name, e.g. "tag16h5"

clearFamilies

public void clearFamilies()

Unregister all families.

detect

public AprilTagDetection[] detect(Mat img)

Detect tags from an 8-bit image.

The image must be grayscale.

Parameters:

img - 8-bit OpenCV Mat image

Returns:

Results (array of AprilTagDetection)