Class AprilTag

Inheritance Relationships

Base Type

Class Documentation

class AprilTag : public dai::NodeCRTP<Node, AprilTag, AprilTagProperties>

AprilTag node.

Public Functions

AprilTag(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId)
AprilTag(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId, std::unique_ptr<Properties> props)
void setWaitForConfigInput(bool wait)

Specify whether or not wait until configuration message arrives to inputConfig Input.

Parameters:

wait – True to wait for configuration message, false otherwise.

Public Members

AprilTagConfig initialConfig

Initial config to use when calculating spatial location data.

Input inputConfig = {*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::AprilTagConfig, false}}}

Input AprilTagConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.

Input inputImage = {*this, "inputImage", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ImgFrame, false}}}

Input message with depth data used to retrieve spatial information about detected object. Default queue is non-blocking with size 4.

Output out = {*this, "out", Output::Type::MSender, {{DatatypeEnum::AprilTags, false}}}

Outputs AprilTags message that carries spatial location results.

Output outConfig = {*this, "outConfig", Output::Type::MSender, {{DatatypeEnum::AprilTagConfig, false}}}

Outputs AprilTagConfig message that contains current configuration.

Output passthroughInputImage = {*this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior.

Public Static Attributes

static constexpr const char *NAME = "AprilTag"

Protected Functions

virtual Properties &getProperties()