BunyipsLib/org.murraybridgebunyips.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

AprilTag

constructor()

Construct a new AprilTag processor.

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

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

Properties

instance

val instance: AprilTagProcessor

Inherited properties

cameraDimensions

@get:Nullable

protected open val cameraDimensions: Size

data

protected val data: List<T>

List of all vision data detected since the last stateful update

isFlipped

open var isFlipped: Boolean

isRunning

open val isRunning: Boolean

Functions

init

open fun init(width: Int, height: Int, calibration: CameraCalibration)

onFrameDraw

protected open fun onFrameDraw(canvas: Canvas)

Called by the vision system to draw on the frame.

onProcessFrame

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

Called by the vision system to process a frame

toString

@NonNull

open fun toString(): String

Unique identifier for the processor.

update

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

clearData

open fun clearData()

Manually clear the data list.

delegate

open fun delegate(@NonNull delegateTo: Processor)

Delegate this processor to another processor.

getData

open fun getData(): ArrayList<T>

Get the list of vision data.

getFrameBitmap

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

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

init

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

isAttached

open fun isAttached(): Boolean

Determine whether the processor is attached to a Vision instance.

onAttach

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.

onDrawFrame

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

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

Use onFrameDraw instead, which passes a canvas.

onRunning

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.

processFrame

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

fun processFrame(f: Mat, captureTimeNanos: Long): Any