#include <TagDetection.h>

Public Member Functions
void	draw (cv::Mat &image) const
	Draw the detection within the supplied image, including boarders and tag ID.
Eigen::Matrix4d	getRelativeTransform (double tag_size, double fx, double fy, double px, double py) const
	Relative pose of tag with respect to the camera.
void	getRelativeTranslationRotation (double tag_size, double fx, double fy, double px, double py, Eigen::Vector3d &trans, Eigen::Matrix3d &rot) const
	Recover rotation matrix and translation vector of April tag relative to camera.
float	getXYOrientation () const
	Orientation in the xy plane.
std::pair< float, float >	interpolate (float x, float y) const
	Interpolate point given (x,y) is in tag coordinate space from (-1,-1) to (1,1).
bool	overlapsTooMuch (const TagDetection &other) const
	Used to eliminate redundant tags.
	TagDetection ()
	Constructor.
	TagDetection (int id)
	Constructor for manually creating tags in a world map.
Public Attributes
long long	code
	Matched code.
std::pair< float, float >	cxy
	Center of tag in pixel coordinates.
bool	good
	Is the detection good enough?
int	hammingDistance
	The hamming distance between the detected code and the true code.
Eigen::Matrix3d	homography
	A 3x3 homography that computes pixel coordinates from tag-relative coordinates.
std::pair< float, float >	hxy
	The homography is relative to image center, whose coordinates are below.
int	id
	What was the ID of the detected tag?
long long	obsCode
	Observed code.
float	observedPerimeter
	Measured in pixels, how long was the observed perimeter.
std::pair< float, float >	p [4]
int	rotation
	How many 90 degree rotations were required to align the code (internal use only)

Detailed Description

Definition at line 13 of file TagDetection.h.

Constructor & Destructor Documentation

AprilTags::TagDetection::TagDetection ( )

Constructor.

Definition at line 21 of file TagDetection.cc.

AprilTags::TagDetection::TagDetection ( int id )

Constructor for manually creating tags in a world map.

Definition at line 27 of file TagDetection.cc.

Member Function Documentation

void AprilTags::TagDetection::draw ( cv::Mat & image ) const

Draw the detection within the supplied image, including boarders and tag ID.

Definition at line 137 of file TagDetection.cc.

Eigen::Matrix4d AprilTags::TagDetection::getRelativeTransform	(	double	tag_size,
		double	fx,
		double	fy,
		double	px,
		double	py
	)		const

Relative pose of tag with respect to the camera.

Definition at line 76 of file TagDetection.cc.

void AprilTags::TagDetection::getRelativeTranslationRotation	(	double	tag_size,
		double	fx,
		double	fy,
		double	px,
		double	py,
		Eigen::Vector3d &	trans,
		Eigen::Matrix3d &	rot
	)		const