# AprilTags

Message produced by [AprilTag](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/april_tag.md) 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).

## Reference

### dai::AprilTags

Kind: class

AprilTags message.

#### std::vector< AprilTag > aprilTags

Kind: variable

#### int64_t sequenceNum

Kind: variable

#### Timestamp ts

Kind: variable

#### Timestamp tsDevice

Kind: variable

#### std::optional< ImgTransformation > transformation

Kind: variable

#### AprilTags()

Kind: function

Construct AprilTags message.

#### ~AprilTags()

Kind: function

#### AprilTags transformTo(const ImgTransformation & target)

Kind: function

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.

#### void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)

Kind: function

#### DatatypeEnum getDatatype()

Kind: function

Get the datatype of this specific message.

return: DatatypeEnum

#### DEPTHAI_SERIALIZE(AprilTags, sequenceNum, ts, tsDevice, transformation, aprilTags)

Kind: function

### Need assistance?

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