fiducial format
Data logging

fiducial log format More...

fiducial log format

The following messages from fiducial interface are logged:

PLAYER_MSGTYPE_DATA:PLAYER_FIDUCIAL_DATA_SCAN (1:1) has the folowing format:

- count (int): number of fiducials to follow
- list of fiducials; for each fiducial:
  - id (int): fiducial ID
  - x (float): relative X position, in meters
  - y (float): relative Y position, in meters
  - z (float): relative Z position, in meters
  - roll (float): relative roll orientation, in radians
  - pitch (float): relative pitch orientation, in radians
  - yaw (float): relative yaw orientation, in radians
  - ux (float): uncertainty in relative X position, in meters
  - uy (float): uncertainty in relative Y position, in meters
  - uz (float): uncertainty in relative Z position, in meters
  - uroll (float): uncertainty in relative roll orientation, in radians
  - upitch (float): uncertainty in relative pitch orientation, in radians
  - uyaw (float): uncertainty in relative yaw orientation, in radians

PLAYER_MSGTYPE_RESP_ACK:PLAYER_FIDUCIAL_REQ_GET_GEOM (4:1) has the following format:

- x (float): relative X position, in meters
- y (float): relative Y position, in meters
- z (float): relative Z position, in meters
- roll (float): relative roll orientation, in radians
- pitch (float): relative pitch orientation, in radians
- yaw (float): relative yaw orientation, in radians
- length (float): fiducial finder length, in meters
- width (float): fiducial finder width, in meters
- height (float): fiducial finder height, in meters
- fiducial_length (float): fiducial marker length, in meters
- fiducial_width (float): fiducial marker width, in meters

Last updated 12 September 2005 21:38:45