AprilVision

An API for detecting april tags.

This requires the Vision API.

Developer Note

See the Understanding AprilTag Detection Values article, specifically figure 2, to understand the reasoning behind this code.

open val isLinear: Boolean = false

Specifies whether this API requires a LinearOpMode to function.

open override val processor: VisionProcessor

open override fun dependencies(): Set<Vision>

A function that returns a Set of all other APIs it depends on to function.

fun detect(id: Int): AprilTagDetection?

Returns the detection data of a specific tag id, or null if not found.

fun detections(): List<AprilTagDetection>

Gets a list of all april tags currently detected.

open override fun init(opMode: OpMode)

Initializes the API to use the given opMode.

Configures the camera's exposure and gain to be optimized for april tags.