Package synapse.pipelines.apriltag

Class ApriltagDetection

java.lang.Object

synapse.pipelines.apriltag.ApriltagDetection

public class ApriltagDetection
extends Object

Represents a single detected AprilTag along with its associated metadata and pose estimates.

This class contains the tag's ID, detection accuracy metrics, and the estimated poses of the camera and tag in multiple coordinate systems. It is typically produced by an AprilTag detection pipeline.

Field Summary

Fields

Modifier and Type	Field	Description
double[]	cameraPose_fieldSpace	The estimated pose of the camera in the field coordinate system.
double[]	cameraPose_tagSpace	The estimated pose of the camera relative to the detected tag.
float	hamming	The Hamming distance of the detected tag, representing the number of bit errors.
ApriltagPoseEstimate	tag_estimate	The estimated pose(s) of the detected AprilTag, including multiple hypotheses or refined estimates if available.
int	tagID	The unique ID of the detected AprilTag.
double[]	tagPose_screenSpace	The estimated pose of the tag in screen coordinates.

Constructor Summary

Constructors

Constructor	Description
ApriltagDetection()	Creates a new, empty ApriltagDetection.

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object o)	Compares this ApriltagDetection with another object for equality.
int	hashCode()	Computes a hash code for this ApriltagDetection.

Methods inherited from class java.lang.Object

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

Field Details

tagID

public int tagID

The unique ID of the detected AprilTag.

Serialized/deserialized as "tag_id" in JSON.

hamming

public float hamming

The Hamming distance of the detected tag, representing the number of bit errors.

Lower values indicate a more accurate detection.

cameraPose_fieldSpace

public double[] cameraPose_fieldSpace

The estimated pose of the camera in the field coordinate system.

Format: [x, y, z, roll, pitch, yaw].

cameraPose_tagSpace

public double[] cameraPose_tagSpace

The estimated pose of the camera relative to the detected tag.

Format: [x, y, z, roll, pitch, yaw].

tagPose_screenSpace

public double[] tagPose_screenSpace

The estimated pose of the tag in screen coordinates.

Format: [x, y, z, roll, pitch, yaw].

tag_estimate

public ApriltagPoseEstimate tag_estimate

The estimated pose(s) of the detected AprilTag, including multiple hypotheses or refined estimates if available.

Constructor Details

ApriltagDetection

public ApriltagDetection()

Creates a new, empty ApriltagDetection.

This constructor is primarily used for JSON deserialization by Jackson and for general instantiation when no initial values are provided.

Method Details

equals

public boolean equals(Object o)

Compares this ApriltagDetection with another object for equality.

Two ApriltagDetection objects are considered equal if all of the following are true:

• Their tagID values are the same.
• Their hamming values are numerically equal.
• Their cameraPose_fieldSpace, cameraPose_tagSpace, and tagPose_screenSpace arrays contain the same elements in the same order.
• Their tag_estimate objects are equal according to ApriltagPoseEstimate.equals(Object).

Overrides:

equals in class Object

Parameters:

o - the object to compare with this instance

Returns:

true if the objects are equal, false otherwise

hashCode

public int hashCode()

Computes a hash code for this ApriltagDetection.

The hash code is based on the same fields used in equals(Object): tagID, hamming, cameraPose_fieldSpace, cameraPose_tagSpace, tagPose_screenSpace, and tag_estimate.

Overrides:

hashCode in class Object

Returns:

a hash code value for this object