uav.vision_nodes.PayloadAprilTagNode

Classes

PayloadAprilTagNode

Functions

main(→ None)

Module Contents

class PayloadAprilTagNode

Bases: vehicle_common.base.VisionNode

srv

_detector_cache

_last_tag_family = 'tag36h11'

_last_tag_size_m = 0.1

_debug_bridge

_debug_pub = None

service_callback(request: uav_interfaces.srv.PayloadAprilTagState.Request, response: uav_interfaces.srv.PayloadAprilTagState.Response) → uav_interfaces.srv.PayloadAprilTagState.Response

_debug_timer_callback() → None

_draw_debug(bgr: numpy.ndarray, gray: numpy.ndarray, camera_info: sensor_msgs.msg.CameraInfo, all_observations: list[uav.vision_nodes.payload_perception_common.AprilTagObservation], observations: list[uav.vision_nodes.payload_perception_common.AprilTagObservation], tag_size_m: float, detector) → None

main() → None