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This is a pre-release version of the original work. The original work is available at [redmine](https://redmine.laas.fr/projects/genom-vision/repository/arucotag-genom3).

arucotag component

[email protected] 2.1 :toc: left

Ports

pose (multiple out)

Data structure
  • struct ::or_pose_estimator::state pose

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[6]

    • optional< struct ::or::t3d::att_cov > att_cov

      • double cov[10]

    • optional< struct ::or::t3d::att_pos_cov > att_pos_cov

      • double cov[12]

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[6]

    • optional< struct ::or::t3d::avel_cov > avel_cov

      • double cov[6]

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

    • optional< struct ::or::t3d::aacc_cov > aacc_cov

      • double cov[6]


pixel_pose (multiple out)

Data structure
  • struct ::or::sensor::pixel pixel_pose

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • optional< struct ::or::sensor::pix_s > pix

      • unsigned short x

      • unsigned short y


drone (in)

Data structure
  • struct ::or_pose_estimator::state drone

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[6]

    • optional< struct ::or::t3d::att_cov > att_cov

      • double cov[10]

    • optional< struct ::or::t3d::att_pos_cov > att_pos_cov

      • double cov[12]

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[6]

    • optional< struct ::or::t3d::avel_cov > avel_cov

      • double cov[6]

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

    • optional< struct ::or::t3d::aacc_cov > aacc_cov

      • double cov[6]


frame (in)

Data structure
  • struct ::or::sensor::frame frame

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean compressed

    • unsigned short height

    • unsigned short width

    • unsigned short bpp

    • sequence< octet > pixels


intrinsics (in)

Data structure
  • struct ::or::sensor::intrinsics intrinsics

    • struct ::or::sensor::calibration calib

      • float fx

      • float fy

      • float cx

      • float cy

      • float gamma

    • struct ::or::sensor::distortion disto

      • float k1

      • float k2

      • float k3

      • float p1

      • float p2


extrinsics (in)

Data structure
  • struct ::or::sensor::extrinsics extrinsics

    • struct ::or::sensor::translation trans

      • float tx

      • float ty

      • float tz

    • struct ::or::sensor::rotation rot

      • float roll

      • float pitch

      • float yaw


output (out)

Data structure
  • struct ::or::sensor::frame output

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean compressed

    • unsigned short height

    • unsigned short width

    • unsigned short bpp

    • sequence< octet > pixels


Services

add_marker (activity)

Inputs
  • string<16> marker Marker name

Throws
  • exception ::arucotag::e_io

    • string<128> what

Context

remove_marker (activity)

Inputs
  • string<16> marker Marker name

Throws
  • exception ::arucotag::e_io

    • string<128> what

Context

set_calib (activity)

Throws
  • exception ::arucotag::e_io

    • string<128> what

Context

Read calibration from input ports and update internal matrices.


set_length (attribute)

Inputs
  • float length Length of tags


set_pix_cov (attribute)

Inputs
  • unsigned short s_pix (default "2") Isotropic pixel covariance of corners of the tags


output_frame (attribute)

Inputs
  • short out_frame (default "0") desired output frame (0: camera; 1: body; 2: world)

Throws
  • exception ::arucotag::e_sys

    • short code

    • string<128> what

Sets the frame in which the output coordinates are expressed. Possible frames are camera (0), body (1) or world (2). (1) assumes that the extrinsic parameters of the camera are properly set. (2) assumes (1) and that the drone input port is connected.


stop (function)

Stops the component until resume() is called.


resume (function)

Restarts the component if stop() was called.


log (function)

Inputs
  • string<64> path (default "/tmp/arucotag.log") Log file name

  • unsigned long decimation (default "1") Reduced logging frequency

Throws
  • exception ::arucotag::e_sys

    • short code

    • string<128> what


log_stop (function)


log_info (function)

Outputs
  • unsigned long miss Missed log entries

  • unsigned long total Total log entries


Tasks

detect

Context

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Genom Component for Arucotag detection

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