AprilTagData Class Reference
#include <AprilTagData.h>
Detailed Description
Definition at line 22 of file AprilTagData.h.
Public Member Functions | |
| AprilTagData (ShapeSpace &_space, const AprilTags::TagDetection &_tagDetection) | |
| Constructor. | |
| AprilTagData (ShapeSpace &_space, const Point &_center, const AprilTags::TagDetection &_tagDetection) | |
| Constructor for manually building AprilTag instances in local or world maps. | |
| AprilTagData (const AprilTagData &other) | |
| Copy constructor. | |
| ~AprilTagData () | |
| Destructor. | |
| DATASTUFF_H (AprilTagData) | |
| const AprilTags::TagDetection & | getTagDetection () const |
| Returns the tag detection represented by this shape. | |
| Point | getCentroid () const |
| Centroid. (Virtual in BaseData.). | |
| void | setCentroid (const Point &other) |
| virtual BoundingBox2D | getBoundingBox () const |
| returns the bounding box of the AprilTag object | |
| Point | getTopLeft () const |
| Bounding box points. | |
| Point | getTopRight () const |
| Point | getBottomLeft () const |
| Point | getBottomRight () const |
| virtual bool | isMatchFor (const ShapeRoot &other) const |
| Match AprilTag objects based on their parameters. (Virtual in BaseData.). | |
| virtual bool | isAdmissible () const |
| Combine two shapes by taking weighted average depending on confidence level. | |
| virtual bool | updateParams (const ShapeRoot &other, bool force=false) |
| Update shape parameters after matching to another shape. | |
| virtual void | printParams () const |
| Print information about this shape. (Virtual in BaseData.). | |
| void | applyTransform (const fmat::Transform &Tmat, const ReferenceFrameType_t newref=unspecified) |
| Transformations. (Virtual in BaseData.). | |
| virtual void | projectToGround (const fmat::Transform &camToBase, const PlaneEquation &groundplane) |
| Project to ground. | |
| virtual unsigned short | getDimension () const |
| int | getTagID () const |
| Properties functions. | |
| AngSignPi | getOrientation () const |
| Properties functions. | |
| int | getHammingDistance () const |
| Properties functions. | |
Static Public Member Functions | |
| static ShapeType_t | getStaticType () |
| static std::vector< Shape < AprilTagData > > | extractAprilTags (const Sketch< uchar > &rawY, const AprilTags::TagFamily &tagFamily) |
| Extraction. | |
| static Shape< AprilTagData > | findTag (const std::vector< ShapeRoot > &shapevec, int id) |
Protected Attributes | |
| AprilTags::TagDetection | tagDetection |
| The tag detection represented by this shape. | |
| Point | center |
Private Member Functions | |
| virtual Sketch< bool > * | render () const |
| Render into a sketch space and return pointer. (Private.). | |
| AprilTagData & | operator= (const AprilTagData &) |
| don't call | |
Constructor & Destructor Documentation
| AprilTagData | ( | ShapeSpace & | _space, | |
| const AprilTags::TagDetection & | _tagDetection | |||
| ) |
Constructor.
Definition at line 9 of file AprilTagData.cc.
Referenced by AprilTagData::extractAprilTags().
| AprilTagData | ( | ShapeSpace & | _space, | |
| const Point & | _center, | |||
| const AprilTags::TagDetection & | _tagDetection | |||
| ) |
Constructor for manually building AprilTag instances in local or world maps.
Definition at line 13 of file AprilTagData.cc.
| AprilTagData | ( | const AprilTagData & | other | ) |
Copy constructor.
Definition at line 16 of file AprilTagData.cc.
| ~AprilTagData | ( | ) |
Destructor.
Definition at line 35 of file AprilTagData.h.
Member Function Documentation
| void applyTransform | ( | const fmat::Transform & | Tmat, | |
| const ReferenceFrameType_t | newref = unspecified | |||
| ) | [virtual] |
Transformations. (Virtual in BaseData.).
Implements BaseData.
Definition at line 43 of file AprilTagData.cc.
| DATASTUFF_H | ( | AprilTagData | ) |
| std::vector< Shape< AprilTagData > > extractAprilTags | ( | const Sketch< uchar > & | rawY, | |
| const AprilTags::TagFamily & | tagFamily | |||
| ) | [static] |
Extraction.
Definition at line 78 of file AprilTagData.cc.
| Shape< AprilTagData > findTag | ( | const std::vector< ShapeRoot > & | shapevec, | |
| int | id | |||
| ) | [static] |
Definition at line 90 of file AprilTagData.cc.
| Point getBottomLeft | ( | ) | const |
Definition at line 54 of file AprilTagData.h.
| Point getBottomRight | ( | ) | const |
Definition at line 55 of file AprilTagData.h.
| BoundingBox2D getBoundingBox | ( | ) | const [virtual] |
returns the bounding box of the AprilTag object
Reimplemented from BaseData.
Definition at line 19 of file AprilTagData.cc.
| Point getCentroid | ( | ) | const [virtual] |
Centroid. (Virtual in BaseData.).
Implements BaseData.
Definition at line 45 of file AprilTagData.h.
Referenced by AprilTagData::isMatchFor().
| virtual unsigned short getDimension | ( | ) | const [virtual] |
Implements BaseData.
Definition at line 73 of file AprilTagData.h.
| int getHammingDistance | ( | ) | const |
Properties functions.
Definition at line 79 of file AprilTagData.h.
| AngSignPi getOrientation | ( | ) | const |
Properties functions.
Definition at line 78 of file AprilTagData.h.
Referenced by AprilTagData::isMatchFor().
| static ShapeType_t getStaticType | ( | ) | [static] |
Definition at line 37 of file AprilTagData.h.
| const AprilTags::TagDetection& getTagDetection | ( | ) | const |
Returns the tag detection represented by this shape.
Definition at line 42 of file AprilTagData.h.
| int getTagID | ( | ) | const |
Properties functions.
Definition at line 77 of file AprilTagData.h.
Referenced by AprilTagData::isMatchFor().
| Point getTopLeft | ( | ) | const |
Bounding box points.
Definition at line 52 of file AprilTagData.h.
| Point getTopRight | ( | ) | const |
Definition at line 53 of file AprilTagData.h.
| virtual bool isAdmissible | ( | ) | const [virtual] |
Combine two shapes by taking weighted average depending on confidence level.
Shapes are admissible to the local map if they're large enough not to be noise.
Reimplemented from BaseData.
Definition at line 60 of file AprilTagData.h.
| bool isMatchFor | ( | const ShapeRoot & | other | ) | const [virtual] |
Match AprilTag objects based on their parameters. (Virtual in BaseData.).
Implements BaseData.
Definition at line 23 of file AprilTagData.cc.
| AprilTagData& operator= | ( | const AprilTagData & | ) | [private] |
don't call
| void printParams | ( | ) | const [virtual] |
Print information about this shape. (Virtual in BaseData.).
Implements BaseData.
Definition at line 39 of file AprilTagData.cc.
| void projectToGround | ( | const fmat::Transform & | camToBase, | |
| const PlaneEquation & | groundplane | |||
| ) | [virtual] |
| Sketch< bool > * render | ( | ) | const [private, virtual] |
Render into a sketch space and return pointer. (Private.).
Implements BaseData.
Definition at line 71 of file AprilTagData.cc.
| void setCentroid | ( | const Point & | other | ) |
Definition at line 46 of file AprilTagData.h.
| bool updateParams | ( | const ShapeRoot & | other, | |
| bool | forceUpdate = false | |||
| ) | [virtual] |
Update shape parameters after matching to another shape.
Implements BaseData.
Definition at line 33 of file AprilTagData.cc.
Member Data Documentation
Definition at line 89 of file AprilTagData.h.
Referenced by AprilTagData::applyTransform(), AprilTagData::getBoundingBox(), AprilTagData::getCentroid(), AprilTagData::projectToGround(), AprilTagData::setCentroid(), and AprilTagData::updateParams().
AprilTags::TagDetection tagDetection [protected] |
The tag detection represented by this shape.
Definition at line 88 of file AprilTagData.h.
Referenced by AprilTagData::getHammingDistance(), AprilTagData::getOrientation(), AprilTagData::getTagDetection(), and AprilTagData::getTagID().
The documentation for this class was generated from the following files:
