BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.vision.processors/AprilTag/CameraPoseBuilder

CameraPoseBuilder

open class CameraPoseBuilder

Utility for setting the camera pose for the AprilTagProcessor.

Constructors

CameraPoseBuilder

constructor(@NonNull builder: AprilTagProcessor.Builder)

Construct a new CameraPoseBuilder.

Functions

apply

@NonNull

open fun apply(): AprilTagProcessor.Builder

Apply the configured camera pose to the builder.

backward

@NonNull

open fun backward(@NonNull backward: Measure<Distance>): AprilTag.CameraPoseBuilder

Set the backward distance of the camera relative to the robot's center of rotation.

down

@NonNull

open fun down(@NonNull down: Measure<Distance>): AprilTag.CameraPoseBuilder

Set the down distance of the camera relative to the robot's center of rotation.

forward

@NonNull

open fun forward(@NonNull forward: Measure<Distance>): AprilTag.CameraPoseBuilder

Set the forward distance of the camera relative to the robot's center of rotation.

left

@NonNull

open fun left(@NonNull left: Measure<Distance>): AprilTag.CameraPoseBuilder

Set the left distance of the camera relative to the robot's center of rotation.

pitch

@NonNull

open fun pitch(@NonNull pitch: Measure<Angle>): AprilTag.CameraPoseBuilder

Set the pitch angle of the camera relative to the robot's center of rotation.

right

@NonNull

open fun right(@NonNull right: Measure<Distance>): AprilTag.CameraPoseBuilder

Set the right distance of the camera relative to the robot's center of rotation.

roll

@NonNull

open fun roll(@NonNull roll: Measure<Angle>): AprilTag.CameraPoseBuilder

Set the roll angle of the camera relative to the robot's center of rotation.

@NonNull

open fun up(@NonNull up: Measure<Distance>): AprilTag.CameraPoseBuilder

Set the up distance of the camera relative to the robot's center of rotation.

withCameraOrientation

@NonNull

open fun withCameraOrientation(@NonNull orientation: YawPitchRollAngles): AprilTag.CameraPoseBuilder

@NonNull

open fun withCameraOrientation(@NonNull yaw: Measure<Angle>, @NonNull pitch: Measure<Angle>, @NonNull roll: Measure<Angle>): AprilTag.CameraPoseBuilder

Set the orientation of the camera relative to the robot's center of rotation.

withCameraPosition

@NonNull

open fun withCameraPosition(@NonNull position: Position): AprilTag.CameraPoseBuilder

@NonNull

open fun withCameraPosition(@NonNull forward: Measure<Distance>, @NonNull left: Measure<Distance>, @NonNull up: Measure<Distance>): AprilTag.CameraPoseBuilder

Set the position of the camera relative to the robot's center of rotation.

yaw

@NonNull

open fun yaw(@NonNull yaw: Measure<Angle>): AprilTag.CameraPoseBuilder

Set the yaw angle of the camera relative to the robot's center of rotation.