Package edu.wpi.first.apriltag.jni

Class AprilTagJNI

java.lang.Object

edu.wpi.first.apriltag.jni.AprilTagJNI

public class AprilTagJNI
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	AprilTagJNI.Helper

Constructor Summary

Constructors

Constructor	Description
AprilTagJNI()

Method Summary

Modifier and Type	Method	Description
static boolean	addFamily(long det, String fam, int bitsCorrected)
static void	clearFamilies(long det)
static long	createDetector()
static void	destroyDetector(long det)
static AprilTagDetection[]	detect(long det, int width, int height, int stride, long bufAddr)
static Transform3d	estimatePose(double[] homography, double[] corners, double tagSize, double fx, double fy, double cx, double cy)
static Transform3d	estimatePoseHomography(double[] homography, double tagSize, double fx, double fy, double cx, double cy)
static AprilTagPoseEstimate	estimatePoseOrthogonalIteration(double[] homography, double[] corners, double tagSize, double fx, double fy, double cx, double cy, int nIters)
static AprilTagDetector.Config	getDetectorConfig(long det)
static AprilTagDetector.QuadThresholdParameters	getDetectorQTP(long det)
static void	removeFamily(long det, String fam)
static void	setDetectorConfig(long det, AprilTagDetector.Config config)
static void	setDetectorQTP(long det, AprilTagDetector.QuadThresholdParameters params)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AprilTagJNI

public AprilTagJNI()

Method Details

createDetector

public static long createDetector()

destroyDetector

public static void destroyDetector(long det)

setDetectorConfig

public static void setDetectorConfig(long det, AprilTagDetector.Config config)

getDetectorConfig

public static AprilTagDetector.Config getDetectorConfig(long det)

setDetectorQTP

public static void setDetectorQTP(long det, AprilTagDetector.QuadThresholdParameters params)

getDetectorQTP

public static AprilTagDetector.QuadThresholdParameters getDetectorQTP(long det)

addFamily

public static boolean addFamily(long det, String fam, int bitsCorrected)

removeFamily

public static void removeFamily(long det, String fam)

clearFamilies

public static void clearFamilies(long det)

detect

public static AprilTagDetection[] detect(long det, int width, int height, int stride, long bufAddr)

estimatePoseHomography

public static Transform3d estimatePoseHomography(double[] homography, double tagSize, double fx, double fy, double cx, double cy)

estimatePoseOrthogonalIteration

public static AprilTagPoseEstimate estimatePoseOrthogonalIteration(double[] homography, double[] corners, double tagSize, double fx, double fy, double cx, double cy, int nIters)

estimatePose

public static Transform3d estimatePose(double[] homography, double[] corners, double tagSize, double fx, double fy, double cx, double cy)