org.bytedeco.depthai

Class RawAprilTagConfig

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.RawBuffer

org.bytedeco.depthai.RawAprilTagConfig

All Implemented Interfaces:

AutoCloseable

@Namespace(value="dai")
 @NoOffset
 @Properties(inherit=depthai.class)
public class RawAprilTagConfig
extends RawBuffer

RawAprilTags configuration structure

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	RawAprilTagConfig.Family Supported AprilTag families.
static class	RawAprilTagConfig.QuadThresholds AprilTag quad threshold parameters.

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
RawAprilTagConfig() Default native constructor.
RawAprilTagConfig(long size) Native array allocator.
RawAprilTagConfig(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
float	decodeSharpening() How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.
RawAprilTagConfig	decodeSharpening(float setter)
RawAprilTagConfig.Family	family() AprilTag family.
RawAprilTagConfig	family(RawAprilTagConfig.Family setter)
RawAprilTagConfig	getPointer(long i)
int	maxHammingDistance() Max number of error bits that should be corrected.
RawAprilTagConfig	maxHammingDistance(int setter)
RawAprilTagConfig	position(long position)
int	quadDecimate() Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate.
RawAprilTagConfig	quadDecimate(int setter)
float	quadSigma() What Gaussian blur should be applied to the segmented image.
RawAprilTagConfig	quadSigma(float setter)
RawAprilTagConfig.QuadThresholds	quadThresholds() AprilTag quad threshold parameters.
RawAprilTagConfig	quadThresholds(RawAprilTagConfig.QuadThresholds setter)
boolean	refineEdges() When non-zero, the edges of the each quad are adjusted to "snap to" strong gradients nearby.
RawAprilTagConfig	refineEdges(boolean setter)
void	serialize(byte[] metadata, int[] datatype)
void	serialize(ByteBuffer metadata, IntBuffer datatype)
void	serialize(BytePointer metadata, IntPointer datatype)

Methods inherited from class org.bytedeco.depthai.RawBuffer

data, data

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

RawAprilTagConfig

public RawAprilTagConfig()

Default native constructor.

RawAprilTagConfig

public RawAprilTagConfig(long size)

Native array allocator. Access with Pointer.position(long).

RawAprilTagConfig

public RawAprilTagConfig(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Method Detail

position

public RawAprilTagConfig position(long position)

Overrides:

position in class RawBuffer

getPointer

public RawAprilTagConfig getPointer(long i)

Overrides:

getPointer in class RawBuffer

family

public RawAprilTagConfig.Family family()

AprilTag family.

family

public RawAprilTagConfig family(RawAprilTagConfig.Family setter)

quadDecimate

@Cast(value="std::int32_t")
public int quadDecimate()

Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.

quadDecimate

public RawAprilTagConfig quadDecimate(int setter)

quadSigma

public float quadSigma()

What Gaussian blur should be applied to the segmented image. Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).

quadSigma

public RawAprilTagConfig quadSigma(float setter)

refineEdges

@Cast(value="bool")
public boolean refineEdges()

When non-zero, the edges of the each quad are adjusted to "snap to" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on. Very computationally inexpensive. Option is ignored if quadDecimate = 1.

refineEdges

public RawAprilTagConfig refineEdges(boolean setter)

decodeSharpening

public float decodeSharpening()

How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions. The default value is 0.25.

decodeSharpening

public RawAprilTagConfig decodeSharpening(float setter)

maxHammingDistance

@Cast(value="std::int32_t")
public int maxHammingDistance()

Max number of error bits that should be corrected. Accepting large numbers of corrected errors leads to greatly increased false positive rates. As of this implementation, the detector cannot detect tags with a hamming distance greater than 2.

maxHammingDistance

public RawAprilTagConfig maxHammingDistance(int setter)

quadThresholds

@ByRef
public RawAprilTagConfig.QuadThresholds quadThresholds()

AprilTag quad threshold parameters.

quadThresholds

public RawAprilTagConfig quadThresholds(RawAprilTagConfig.QuadThresholds setter)

serialize

public void serialize(@Cast(value="std::uint8_t*") @StdVector
                      BytePointer metadata,
                      @ByRef @Cast(value="dai::DatatypeEnum*")
                      IntPointer datatype)

Overrides:

serialize in class RawBuffer

serialize

public void serialize(@Cast(value="std::uint8_t*") @StdVector
                      ByteBuffer metadata,
                      @ByRef @Cast(value="dai::DatatypeEnum*")
                      IntBuffer datatype)

Overrides:

serialize in class RawBuffer

serialize

public void serialize(@Cast(value="std::uint8_t*") @StdVector
                      byte[] metadata,
                      @ByRef @Cast(value="dai::DatatypeEnum*")
                      int[] datatype)

Overrides:

serialize in class RawBuffer