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ArucoMarkerMap Class Referencefinal

A map of the position and orientation of several aruco markers. More...

Public Member Functions

Construction
 ArucoMarkerMap (const std::string &_filename)
 
Interface
const mathtool::Transformation & GetMarkerTransformation (const size_t _id) const
 
mathtool::Transformation GetCameraTransformation (const size_t _id, const double _x, const double _y, const double _t) const
 

Detailed Description

A map of the position and orientation of several aruco markers.

Constructor & Destructor Documentation

◆ ArucoMarkerMap()

ArucoMarkerMap::ArucoMarkerMap ( const std::string &  _filename)

Parse a marker map from an input XML file.

Parameters
_fileNameFile name of XML file for marker map

Member Function Documentation

◆ GetMarkerTransformation()

const mathtool::Transformation & ArucoMarkerMap::GetMarkerTransformation ( const size_t  _id) const

Get the global transformation of a given marker.

Parameters
_idThe marker ID.
Returns
The global transformation for this marker.

◆ GetCameraTransformation()

mathtool::Transformation ArucoMarkerMap::GetCameraTransformation ( const size_t  _id,
const double  _x,
const double  _y,
const double  _t 
) const

Get the global transformation of the camera relative to a marker.

Parameters
_idThe marker ID.
_xThe camera's X position in the marker's local frame.
_yThe camera's Y position in the marker's local frame.
_tThe 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: