fiducial
[Interface specifications]


Detailed Description

Fiducial (marker) detectionThe 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.

#define PLAYER_FIDUCIAL_MAX_SAMPLES   32
#define PLAYER_FIDUCIAL_DATA_SCAN   1
 Data subtype: detected fiducials.
#define PLAYER_FIDUCIAL_REQ_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_FIDUCIAL_REQ_GET_FOV   2
 Request/reply subtype: get field of view.
#define PLAYER_FIDUCIAL_REQ_SET_FOV   3
 Request/reply subtype: set field of view.
#define PLAYER_FIDUCIAL_REQ_GET_ID   7
 Request/reply subtype: get ID.
#define PLAYER_FIDUCIAL_REQ_SET_ID   8
 Request/reply subtype: set ID.
typedef struct
player_fiducial_item 
player_fiducial_item_t
typedef struct
player_fiducial_data 
player_fiducial_data_t
typedef struct
player_fiducial_geom 
player_fiducial_geom_t
typedef struct
player_fiducial_fov 
player_fiducial_fov_t
typedef struct
player_fiducial_id 
player_fiducial_id_t

Define Documentation

#define PLAYER_FIDUCIAL_MAX_SAMPLES   32

The maximum number of fiducials that can be detected at one time.


Typedef Documentation

Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN)The fiducial data packet (all fiducials).

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.

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.

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.

Info on a single detected fiducialThe fiducial data packet contains a list of these.


Last updated 12 September 2005 21:38:45