fiducial
Interface specifications

Fiducial (marker) detection. More...

#define | PLAYER_FIDUCIAL_DATA_SCAN 1
| Info on a single detected fiducial. More...
#define | PLAYER_FIDUCIAL_REQ_GET_GEOM 1
| Info on a single detected fiducial. More...
#define | PLAYER_FIDUCIAL_REQ_GET_FOV 2
| Info on a single detected fiducial. More...
#define | PLAYER_FIDUCIAL_REQ_SET_FOV 3
| Info on a single detected fiducial. More...
#define | PLAYER_FIDUCIAL_REQ_GET_ID 7
| Info on a single detected fiducial. More...
#define | PLAYER_FIDUCIAL_REQ_SET_ID 8
| Info on a single detected fiducial. More...
typedef struct player_fiducial_item | player_fiducial_item_t
| Info on a single detected fiducial. More...
typedef struct player_fiducial_data | player_fiducial_data_t
| Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN) More...
typedef struct player_fiducial_geom | player_fiducial_geom_t
| Request/reply: Get geometry. More...
typedef struct player_fiducial_fov | player_fiducial_fov_t
| Request/reply: Get/set sensor field of view. More...
typedef struct player_fiducial_id | player_fiducial_id_t
| Request/reply: Get/set fiducial ID. More...

## Detailed Description

Fiducial (marker) detection.

The fiducial interface provides access to devices that detect coded fiducials (markers) placed in the environment. It can also be used for devices the detect natural landmarks.

## Macro Definition Documentation

#define PLAYER_FIDUCIAL_DATA_SCAN 1

Info on a single detected fiducial.

The fiducial data packet contains a list of these.

#define PLAYER_FIDUCIAL_REQ_GET_FOV 2

Info on a single detected fiducial.

The fiducial data packet contains a list of these.

#define PLAYER_FIDUCIAL_REQ_GET_GEOM 1

Info on a single detected fiducial.

The fiducial data packet contains a list of these.

#define PLAYER_FIDUCIAL_REQ_GET_ID 7

Info on a single detected fiducial.

The fiducial data packet contains a list of these.

#define PLAYER_FIDUCIAL_REQ_SET_FOV 3

Info on a single detected fiducial.

The fiducial data packet contains a list of these.

#define PLAYER_FIDUCIAL_REQ_SET_ID 8

Info on a single detected fiducial.

The fiducial data packet contains a list of these.

## Typedef Documentation

typedef struct player_fiducial_data player_fiducial_data_t

Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN)

The fiducial data packet (all fiducials).

typedef struct player_fiducial_fov player_fiducial_fov_t

Request/reply: Get/set sensor field of view.

The field of view of the fiducial device can be set using the PLAYER_FIDUCIAL_REQ_SET_FOV request (response will be null), and queried using a null PLAYER_FIDUCIAL_REQ_GET_FOV request.

typedef struct player_fiducial_geom player_fiducial_geom_t

Request/reply: Get geometry.

The geometry (pose and size) of the fiducial device can be queried by sending a null PLAYER_FIDUCIAL_REQ_GET_GEOM request.

typedef struct player_fiducial_id player_fiducial_id_t

Request/reply: Get/set fiducial ID.

Some fiducial finder devices display their own fiducial. Send a null PLAYER_FIDUCIAL_REQ_GET_ID request to get the identifier displayed by the fiducial.

Some devices can dynamically change the identifier they display. Send a PLAYER_FIDUCIAL_REQ_SET_ID request to set the currently displayed value. Make the request with the player_fiducial_id_t structure. The device replies with the same structure with the id field set to the value it actually used. You should check this value, as the device may not be able to display the value you requested.

Currently supported by the stg_fiducial driver.

typedef struct player_fiducial_item player_fiducial_item_t

Info on a single detected fiducial.

The fiducial data packet contains a list of these.

Last updated 12 September 2005 21:38:45