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

AprilTag

open class AprilTag : Processor<T>

AprilTag Detection Processor

This is an extension wrapper for the SDK-provided AprilTagProcessor to interop with the Vision system.

Author

Lucas Bubner, 2023

Since

1.0.0-pre

Constructors

constructor()

Construct a new AprilTag processor.

constructor(@NonNull customBuilderSettings: (AprilTagProcessor.Builder) -> AprilTagProcessor.Builder)

Create an AprilTag instance with the additional builder settings as provided.

Types

CameraPoseBuilder

open class CameraPoseBuilder

Utility for setting the camera pose for the AprilTagProcessor.

Properties

val instance: AprilTagProcessor

Inherited properties

cameraDimensions

open val cameraDimensions: Size

protected val data: List<T>

List of all vision data detected since the last stateful update.

open var isFlipped: Boolean

open val isRunning: Boolean

Functions

open fun getId(): String

Unique identifier for the processor.

open fun init(@Nullable calibration: CameraCalibration)

Optional method to implement to access the camera calibration data.

protected open fun onFrameDraw(@NonNull canvas: Canvas)

Called by the vision system to draw on the frame.

protected open fun onProcessFrame(@NonNull frame: Mat, captureTimeNanos: Long)

Called by the vision system to process a frame.

open fun setCameraPose(@NonNull builder: AprilTagProcessor.Builder): AprilTag.CameraPoseBuilder

Creates a builder to assist in setting the camera pose for the AprilTagProcessor.

protected open fun update()

Called to update new data from the vision system, which involves interpreting, collecting, or otherwise processing new vision data per frame.

Inherited functions

open fun clearData()

Manually clear the data list.

open fun delegate(@NonNull delegateTo: Processor)

Delegate this processor to another processor.

open fun getData(): ArrayList<T>

Get the list of vision data.

open fun getFrameBitmap(@NonNull continuation: Continuation<out Consumer<Bitmap>>)

abstract fun getFrameBitmap(p: Continuation<out Consumer<Bitmap>>)

fun init(width: Int, height: Int, @Nullable calibration: CameraCalibration)

abstract fun init(p: Int, p1: Int, p2: CameraCalibration)

open fun isAttached(): Boolean

Determine whether the processor is attached to a Vision instance or is initialised.

protected open fun onAttach()

Override this method to run any additional code that will be executed when this processor is attached (via init()) by a Vision instance.

fun onDrawFrame(@NonNull canvas: Canvas, onscreenWidth: Int, onscreenHeight: Int, scaleBmpPxToCanvasPx: Float, scaleCanvasDensity: Float, @NonNull userContext: Any)

Use onFrameDraw instead, which passes a canvas.

abstract fun onDrawFrame(p: Canvas, p1: Int, p2: Int, p3: Float, p4: Float, p5: Any)

protected open fun onRunning()

Override this method to run any additional code that will be executed when this processor starts streaming (via start()) on a Vision instance.

fun processFrame(@NonNull frame: Mat, captureTimeNanos: Long): Any

abstract fun processFrame(p: Mat, p1: Long): Any

fun toString(): String