AprilTagData Class Reference
#include <AprilTagData.h>
Detailed Description
Definition at line 23 of file AprilTagData.h.
Classes | |
| class | TagIDLessThan |
| For sorting tags by ID. More... | |
Public Member Functions | |
| AprilTagData (ShapeSpace &_space, const AprilTags::TagDetection &_tagDetection) | |
| Constructor. | |
| AprilTagData (ShapeSpace &_space, const AprilTags::TagDetection &_tagDetection, const Point &_center, const fmat::Quaternion &_q=fmat::Quaternion()) | |
| 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 in the camera reference frame; not the same as getTopLeft() etc. | |
| Point | getTopLeft () const |
| Bounding box points with respect to the tag itself, i.e., "top left" is always the same point on the tag, independent of tag orientation. | |
| 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. | |
| fmat::Quaternion | getQuaternion () const |
| Properties functions. | |
| int | getHammingDistance () const |
| Only works for vertical tags at expected marker height. | |
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) |
| Find a tag with the specified tag ID. | |
Protected Member Functions | |
| Point | getBottomLeftImagePoint () const |
| Used for determining orientation of vertical AprilTags. | |
| Point | getBottomRightImagePoint () const |
Protected Attributes | |
| AprilTags::TagDetection | tagDetection |
| The tag detection represented by this shape. | |
| Point | center |
| fmat::Quaternion | q |
| Point | bl |
| Point | br |
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 11 of file AprilTagData.cc.
Referenced by AprilTagData::extractAprilTags().
| AprilTagData | ( | ShapeSpace & | _space, | |
| const AprilTags::TagDetection & | _tagDetection, | |||
| const Point & | _center, | |||
| const fmat::Quaternion & | _q = fmat::Quaternion() | |||
| ) |
Constructor for manually building AprilTag instances in local or world maps.
Definition at line 16 of file AprilTagData.cc.
| AprilTagData | ( | const AprilTagData & | other | ) |
Copy constructor.
Definition at line 19 of file AprilTagData.cc.
| ~AprilTagData | ( | ) |
Destructor.
Definition at line 37 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 64 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 131 of file AprilTagData.cc.
| Shape< AprilTagData > findTag | ( | const std::vector< ShapeRoot > & | shapevec, | |
| int | id | |||
| ) | [static] |
Find a tag with the specified tag ID.
Definition at line 143 of file AprilTagData.cc.
| Point getBottomLeft | ( | ) | const |
Definition at line 39 of file AprilTagData.cc.
| Point getBottomLeftImagePoint | ( | ) | const [protected] |
Used for determining orientation of vertical AprilTags.
Definition at line 158 of file AprilTagData.cc.
| Point getBottomRight | ( | ) | const |
Definition at line 41 of file AprilTagData.cc.
| Point getBottomRightImagePoint | ( | ) | const [protected] |
Definition at line 168 of file AprilTagData.cc.
| BoundingBox2D getBoundingBox | ( | ) | const [virtual] |
Returns the bounding box of the AprilTag object in the camera reference frame; not the same as getTopLeft() etc.
Reimplemented from BaseData.
Definition at line 23 of file AprilTagData.cc.
| Point getCentroid | ( | ) | const [virtual] |
Centroid. (Virtual in BaseData.).
Implements BaseData.
Definition at line 47 of file AprilTagData.h.
Referenced by AprilTagData::isMatchFor().
| virtual unsigned short getDimension | ( | ) | const [virtual] |
Implements BaseData.
Definition at line 75 of file AprilTagData.h.
| int getHammingDistance | ( | ) | const |
Only works for vertical tags at expected marker height.
Definition at line 85 of file AprilTagData.h.
| fmat::Quaternion getQuaternion | ( | ) | const |
Properties functions.
The ID number encoded in this AprilTag
Definition at line 72 of file AprilTagData.cc.
| static ShapeType_t getStaticType | ( | ) | [static] |
Definition at line 39 of file AprilTagData.h.
| const AprilTags::TagDetection& getTagDetection | ( | ) | const |
Returns the tag detection represented by this shape.
Definition at line 44 of file AprilTagData.h.
| int getTagID | ( | ) | const |
Properties functions.
The ID number encoded in this AprilTag
Definition at line 81 of file AprilTagData.h.
Referenced by AprilTagData::isMatchFor().
| Point getTopLeft | ( | ) | const |
Bounding box points with respect to the tag itself, i.e., "top left" is always the same point on the tag, independent of tag orientation.
Definition at line 35 of file AprilTagData.cc.
| Point getTopRight | ( | ) | const |
Definition at line 37 of file AprilTagData.cc.
| 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 62 of file AprilTagData.h.
Match AprilTag objects based on their parameters. (Virtual in BaseData.).
Implements BaseData.
Definition at line 43 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 60 of file AprilTagData.cc.
| void projectToGround | ( | const fmat::Transform & | camToBase, | |
| const PlaneEquation & | groundplane | |||
| ) | [virtual] |
Render into a sketch space and return pointer. (Private.).
Implements BaseData.
Definition at line 124 of file AprilTagData.cc.
| void setCentroid | ( | const Point & | other | ) |
Definition at line 48 of file AprilTagData.h.
Update shape parameters after matching to another shape.
Implements BaseData.
Definition at line 54 of file AprilTagData.cc.
Member Data Documentation
Definition at line 107 of file AprilTagData.h.
Referenced by AprilTagData::applyTransform(), and AprilTagData::projectToGround().
Definition at line 107 of file AprilTagData.h.
Referenced by AprilTagData::applyTransform(), and AprilTagData::projectToGround().
Definition at line 105 of file AprilTagData.h.
Referenced by AprilTagData::applyTransform(), AprilTagData::getCentroid(), AprilTagData::projectToGround(), AprilTagData::setCentroid(), and AprilTagData::updateParams().
fmat::Quaternion q [protected] |
Definition at line 106 of file AprilTagData.h.
Referenced by AprilTagData::applyTransform(), AprilTagData::getQuaternion(), and AprilTagData::projectToGround().
AprilTags::TagDetection tagDetection [protected] |
The tag detection represented by this shape.
Definition at line 104 of file AprilTagData.h.
Referenced by AprilTagData::getBottomLeft(), AprilTagData::getBottomLeftImagePoint(), AprilTagData::getBottomRight(), AprilTagData::getBottomRightImagePoint(), AprilTagData::getBoundingBox(), AprilTagData::getHammingDistance(), AprilTagData::getTagDetection(), AprilTagData::getTagID(), AprilTagData::getTopLeft(), and AprilTagData::getTopRight().
The documentation for this class was generated from the following files:
