A map of the position and orientation of several aruco markers.
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A map of the position and orientation of several aruco markers.
◆ ArucoMarkerMap()
ArucoMarkerMap::ArucoMarkerMap |
( |
const std::string & |
_filename | ) |
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Parse a marker map from an input XML file.
- Parameters
-
_fileName | File name of XML file for marker map |
◆ GetMarkerTransformation()
const mathtool::Transformation & ArucoMarkerMap::GetMarkerTransformation |
( |
const size_t |
_id | ) |
const |
Get the global transformation of a given marker.
- Parameters
-
- Returns
- The global transformation for this marker.
◆ GetCameraTransformation()
mathtool::Transformation ArucoMarkerMap::GetCameraTransformation |
( |
const size_t |
_id, |
|
|
const double |
_x, |
|
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const double |
_y, |
|
|
const double |
_t |
|
) |
| const |
Get the global transformation of the camera relative to a marker.
- Parameters
-
_id | The marker ID. |
_x | The camera's X position in the marker's local frame. |
_y | The camera's Y position in the marker's local frame. |
_t | The camera's angle Theta in the marker's local frame. |
- Returns
- The camera's transformation in the global frame.
The documentation for this class was generated from the following files:
- ArucoMarkerMap.h
- ArucoMarkerMap.cpp