#include <AprilTag.hpp>

Inheritance diagram for dai::node::AprilTag:

Public Member 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)

Public Member Functions inherited from dai::NodeCRTP< Node, AprilTag, AprilTagProperties >
std::unique_ptr< Node >	clone () const override

const char *	getName () const override

Public Member Functions inherited from dai::Node
virtual std::unique_ptr< Node >	clone () const =0
	Deep copy the node. More...

AssetManager &	getAssetManager ()
	Get node AssetManager as a reference. More...

const AssetManager &	getAssetManager () const
	Get node AssetManager as a const reference. More...

std::vector< Input * >	getInputRefs ()
	Retrieves reference to node inputs. More...

std::vector< const Input * >	getInputRefs () const
	Retrieves reference to node inputs. More...

std::vector< Input >	getInputs ()
	Retrieves all nodes inputs. More...

virtual const char *	getName () const =0
	Retrieves nodes name. More...

std::vector< Output * >	getOutputRefs ()
	Retrieves reference to node outputs. More...

std::vector< const Output * >	getOutputRefs () const
	Retrieves reference to node outputs. More...

std::vector< Output >	getOutputs ()
	Retrieves all nodes outputs. More...

Pipeline	getParentPipeline ()

const Pipeline	getParentPipeline () const

	Node (const std::shared_ptr< PipelineImpl > &p, Id nodeId, std::unique_ptr< Properties > props)
	Constructs Node. More...

virtual	~Node ()=default

Public Attributes
AprilTagConfig	initialConfig

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

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

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

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

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

Public Attributes inherited from dai::NodeCRTP< Node, AprilTag, AprilTagProperties >
Properties &	properties
	Underlying properties. More...

Public Attributes inherited from dai::Node
const Id	id
	Id of node. More...

Properties &	properties

Static Public Attributes
constexpr static const char *	NAME = "AprilTag"

Protected Member Functions
Properties &	getProperties ()

Protected Member Functions inherited from dai::Node
virtual tl::optional< OpenVINO::Version >	getRequiredOpenVINOVersion ()

void	setInputMapRefs (InputMap *inMapRef)

void	setInputMapRefs (std::initializer_list< InputMap * > l)

void	setInputRefs (Input *inRef)

void	setInputRefs (std::initializer_list< Input * > l)

void	setOutputMapRefs (OutputMap *outMapRef)

void	setOutputMapRefs (std::initializer_list< OutputMap * > l)

void	setOutputRefs (Output *outRef)

void	setOutputRefs (std::initializer_list< Output * > l)

Private Attributes
std::shared_ptr< RawAprilTagConfig >	rawConfig

Additional Inherited Members
Public Types inherited from dai::NodeCRTP< Node, AprilTag, AprilTagProperties >
using	Properties = AprilTagProperties

Public Types inherited from dai::Node
using	Id = std::int64_t
	Node identificator. Unique for every node on a single Pipeline. More...

Protected Attributes inherited from dai::Node
AssetManager	assetManager

std::unordered_map< std::string, InputMap * >	inputMapRefs

std::unordered_map< std::string, Input * >	inputRefs

std::unordered_map< std::string, OutputMap * >	outputMapRefs

std::unordered_map< std::string, Output * >	outputRefs

std::weak_ptr< PipelineImpl >	parent

copyable_unique_ptr< Properties >	propertiesHolder

Detailed Description

AprilTag node.

Definition at line 16 of file AprilTag.hpp.

Constructor & Destructor Documentation

◆ AprilTag() [1/2]

dai::node::AprilTag::AprilTag	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId
	)

Definition at line 8 of file AprilTag.cpp.

◆ AprilTag() [2/2]

dai::node::AprilTag::AprilTag	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId,
		std::unique_ptr< Properties >	props
	)

Definition at line 9 of file AprilTag.cpp.

Member Function Documentation

◆ getProperties()

AprilTag::Properties & dai::node::AprilTag::getProperties ( )

protectedvirtual

Reimplemented from dai::Node.

Definition at line 15 of file AprilTag.cpp.

◆ setWaitForConfigInput()

void dai::node::AprilTag::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.

Definition at line 21 of file AprilTag.cpp.

Member Data Documentation

◆ initialConfig

AprilTagConfig dai::node::AprilTag::initialConfig

Initial config to use when calculating spatial location data.

Definition at line 33 of file AprilTag.hpp.

◆ inputConfig

Input dai::node::AprilTag::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.

Definition at line 39 of file AprilTag.hpp.

◆ inputImage

Input dai::node::AprilTag::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.

Definition at line 44 of file AprilTag.hpp.

◆ NAME

constexpr static const char* dai::node::AprilTag::NAME = "AprilTag"

staticconstexpr

Definition at line 18 of file AprilTag.hpp.

◆ out

Output dai::node::AprilTag::out {*this, "out", Output::Type::MSender, {{DatatypeEnum::AprilTags, false}}}

Outputs AprilTags message that carries spatial location results.

Definition at line 49 of file AprilTag.hpp.

◆ outConfig

Output dai::node::AprilTag::outConfig {*this, "outConfig", Output::Type::MSender, {{DatatypeEnum::AprilTagConfig, false}}}

Outputs AprilTagConfig message that contains current configuration.

Definition at line 54 of file AprilTag.hpp.

◆ passthroughInputImage

Output dai::node::AprilTag::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.

Definition at line 60 of file AprilTag.hpp.

◆ rawConfig

std::shared_ptr<RawAprilTagConfig> dai::node::AprilTag::rawConfig

private

Definition at line 24 of file AprilTag.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members