The Aruco grid board creates a flat grid of fiducial markers. More...

#include <ArucoGridBoard.hh>

Inheritance diagram for gramods::gmTrack::ArucoGridBoard:

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Collaboration diagram for gramods::gmTrack::ArucoGridBoard:

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Classes
struct	Impl

Public Member Functions
void	setColumns (size_t N)
	Set the number of columns of markers to track.

void	setRows (size_t N)
	Set the number of columns of markers to track.

void	setMarkerSize (float s)
	Set the size of the markers, typically in meters.

void	setMarkerSeparation (float s)
	Set the distance between the markers, typically in meters.

void	setFirstId (size_t id)
	Set the first id to use from the dictionary when defining the markers.

void	setDictionary (std::string dict)
	Set dictionary to pull marker definition from.

void	setPosition (Eigen::Vector3f p)
	Set the position of the board grid relative to the origin of the board.

void	setOrientation (Eigen::Quaternionf q)
	Set the orientation of the board grid.

cv::Ptr< cv::aruco::Board >	getBoard () override
	Returns a reference to the board defined by this node.

Public Member Functions inherited from gramods::gmTrack::ArucoBoard
std::string	getDefaultKey () override
	Returns the default key, in Configuration, for the Object.

Public Member Functions inherited from gramods::gmCore::Object
	Object ()
	Initializes internal data.

virtual	~Object ()
	Cleaning up internal data.

virtual void	initialize ()
	Called to initialize the Object.

virtual void	accept (Visitor *visitor)
	Calls the visitors apply method with this as argument.

virtual void	traverse (Visitor *visitor)
	Calls the child Object's accept method, if such exist.

bool	isInitialized ()
	Returns true if the Object is initialized.

Static Public Attributes
static gramods::gmCore::OFactory::OFactoryInformation	_gm_ofi

Detailed Description

The Aruco grid board creates a flat grid of fiducial markers.

The coordinate system is centered for convenience when used together with ArucoBoardComplex to form complex structures. Offset follows OpenGL convention: x left, y up and z back (out of the board).

Member Function Documentation

◆ getBoard()

cv::Ptr< cv::aruco::Board > gramods::gmTrack::ArucoGridBoard::getBoard ( )

overridevirtual

Returns a reference to the board defined by this node.

Implements gramods::gmTrack::ArucoBoard.

◆ setColumns()

void gramods::gmTrack::ArucoGridBoard::setColumns ( size_t N )

Set the number of columns of markers to track.

Default is 1.

XML-attribute: columns

◆ setDictionary()

void gramods::gmTrack::ArucoGridBoard::setDictionary ( std::string dict )

Set dictionary to pull marker definition from.

Default is "ARUCO_ORIGINAL" and valid values are

4X4_50
4X4_100
4X4_250
4X4_1000
5X5_50
5X5_100
5X5_250
5X5_1000
6X6_50
6X6_100
6X6_250
6X6_1000
7X7_50
7X7_100
7X7_250
7X7_1000
ARUCO_ORIGINAL
APRILTAG_16h5
APRILTAG_25h9
APRILTAG_36h10
APRILTAG_36h11

XML-attribute: dictionary

◆ setFirstId()

void gramods::gmTrack::ArucoGridBoard::setFirstId ( size_t id )

Set the first id to use from the dictionary when defining the markers.

Since the ids are taken in sequence from the dictionary, the last id will be id + columns x rows - 1. Default is 0.

XML-attribute: firstId

◆ setMarkerSeparation()

void gramods::gmTrack::ArucoGridBoard::setMarkerSeparation ( float s )

Set the distance between the markers, typically in meters.

XML-attribute: markerSeparation

◆ setMarkerSize()

void gramods::gmTrack::ArucoGridBoard::setMarkerSize ( float s )

Set the size of the markers, typically in meters.

XML-attribute: markerSize

◆ setOrientation()

void gramods::gmTrack::ArucoGridBoard::setOrientation ( Eigen::Quaternionf q )

Set the orientation of the board grid.

XML-attribute: orientation

See also: gramods::operator>>(std::istream &, Eigen::Quaternionf &)

◆ setPosition()

void gramods::gmTrack::ArucoGridBoard::setPosition ( Eigen::Vector3f p )

Set the position of the board grid relative to the origin of the board.

XML-attribute: position

See also: gramods::operator>>(std::istream &, Eigen::Vector3f &)

◆ setRows()

void gramods::gmTrack::ArucoGridBoard::setRows ( size_t N )