AprilTags::TagDetection Struct Reference

#include <TagDetection.h>

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Detailed Description

Definition at line 13 of file TagDetection.h.

List of all members.

Public Member Functions
	TagDetection ()
	Constructor.
	TagDetection (int id)
	Constructor for manually creating tags in a world map.
AngSignPi	getXYOrientation () const
	Orientation in the xy plane.
fmat::Matrix< 4, 4 >	getRotMatrix () const
std::pair< float, float >	interpolate (float x, float y) const
	Interpolate point given (x,y) is in tag coordinate space from (-1,-1) to (1,1).
bool	overlapsTooMuch (const TagDetection &other) const
	Used to eliminate redundant tags.
Public Attributes
bool	good
	Is the detection good enough?
long long	obsCode
	Observed code.
long long	code
	Matched code.
int	id
	What was the ID of the detected tag?
int	hammingDistance
	The hamming distance between the detected code and the true code.
int	rotation
	How many 90 degree rotations were required to align the code (internal use only).
std::pair< float, float >	p [4]
std::pair< float, float >	cxy
	Center of tag in pixel coordinates.
float	observedPerimeter
	Measured in pixels, how long was the observed perimeter.
fmat::Matrix< 3, 3 >	homography
	A 3x3 homography that computes pixel coordinates from tag-relative coordinates.
std::pair< float, float >	hxy
	The homography is relative to image center, whose coordinates are below.

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Constructor & Destructor Documentation

AprilTags::TagDetection::TagDetection

(

)

Constructor.

Definition at line 7 of file TagDetection.cc.

AprilTags::TagDetection::TagDetection

(

int

id

)

Constructor for manually creating tags in a world map.

Definition at line 11 of file TagDetection.cc.

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Member Function Documentation

fmat::Matrix< 4, 4 > AprilTags::TagDetection::getRotMatrix

(

)

const

Definition at line 33 of file TagDetection.cc.

AngSignPi AprilTags::TagDetection::getXYOrientation

(

)

const

Orientation in the xy plane.

Definition at line 15 of file TagDetection.cc.

std::pair< float, float > AprilTags::TagDetection::interpolate	(	float	x,
		float	y
	)			const

Interpolate point given (x,y) is in tag coordinate space from (-1,-1) to (1,1).

Definition at line 241 of file TagDetection.cc.

Referenced by AprilTags::TagDetector::extractTags().

bool AprilTags::TagDetection::overlapsTooMuch

(

const TagDetection &

other

)

const

Used to eliminate redundant tags.

Definition at line 250 of file TagDetection.cc.

Referenced by AprilTags::TagDetector::extractTags().

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Member Data Documentation

long long AprilTags::TagDetection::code

Matched code.

Definition at line 28 of file TagDetection.h.

Referenced by AprilTags::TagFamily::decode().

std::pair<float,float> AprilTags::TagDetection::cxy

Center of tag in pixel coordinates.

Definition at line 47 of file TagDetection.h.

Referenced by AprilTags::TagDetector::extractTags(), and overlapsTooMuch().

bool AprilTags::TagDetection::good

Is the detection good enough?

Definition at line 22 of file TagDetection.h.

Referenced by AprilTags::TagFamily::decode(), and AprilTags::TagDetector::extractTags().

int AprilTags::TagDetection::hammingDistance

The hamming distance between the detected code and the true code.

Definition at line 34 of file TagDetection.h.

Referenced by AprilTags::TagFamily::decode(), and AprilTags::TagDetector::extractTags().

fmat::Matrix<3,3> AprilTags::TagDetection::homography

A 3x3 homography that computes pixel coordinates from tag-relative coordinates.

Definition at line 59 of file TagDetection.h.

Referenced by AprilTags::TagDetector::extractTags(), getRotMatrix(), and interpolate().

std::pair<float,float> AprilTags::TagDetection::hxy

The homography is relative to image center, whose coordinates are below.

Definition at line 67 of file TagDetection.h.

Referenced by AprilTags::TagDetector::extractTags(), and interpolate().

int AprilTags::TagDetection::id

What was the ID of the detected tag?

Definition at line 31 of file TagDetection.h.

Referenced by AprilTags::TagFamily::decode(), and AprilTags::TagDetector::extractTags().

long long AprilTags::TagDetection::obsCode

Observed code.

Definition at line 25 of file TagDetection.h.

Referenced by AprilTags::TagFamily::decode().

float AprilTags::TagDetection::observedPerimeter

Measured in pixels, how long was the observed perimeter.

Observed perimeter excludes the inferred perimeter which is used to connect incomplete quads.

Definition at line 51 of file TagDetection.h.

Referenced by AprilTags::TagDetector::extractTags().

std::pair<float,float> AprilTags::TagDetection::p[4]

Fields below are filled in by TagDetector /////////////// Position (in fractional pixel coordinates) of the detection.

Definition at line 44 of file TagDetection.h.

Referenced by AprilTags::TagDetector::extractTags(), getXYOrientation(), and overlapsTooMuch().

int AprilTags::TagDetection::rotation

How many 90 degree rotations were required to align the code (internal use only).

Definition at line 37 of file TagDetection.h.

Referenced by AprilTags::TagFamily::decode(), and AprilTags::TagDetector::extractTags().

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The documentation for this struct was generated from the following files:

• TagDetection.h
• TagDetection.cc