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AprilTags

Message produced by AprilTag node that holds AprilTags marker data, which includes the detected tag ID, the tag's corners, decoding quality (decisionMargin), and number of corrected error bits (hamming).

Remapping

AprilTags is transformable, which means it can be remapped into another frame's coordinate system. See Remapping transformable messages for details.

Reference

class

dai::AprilTags

#include AprilTags.hpp
variable
std::vector< AprilTag > aprilTags
variable
int64_t sequenceNum
variable
variable
Timestamp tsDevice
variable
std::optional< ImgTransformation > transformation
function
AprilTags()
Construct AprilTags message.
function
~AprilTags()
function
AprilTags transformTo(const ImgTransformation & target)
Returns a new AprilTags message with the tags transformed into the target image transformation.If the target transformation has a different coordinate system source (eg. different camera socket) then the remapping will be inaccurate due to the lack of depth information.
Parameters
  • target: Target image transformation.
function
void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)
inline function
DatatypeEnum getDatatype()
function
DEPTHAI_SERIALIZE(AprilTags, sequenceNum, ts, tsDevice, transformation, aprilTags)

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