A *Tag_Struct* represents the location and orientation of one ceiling fiducial tag. More...

#include <Tag.hpp>

Public Member Functions
void	arc_append (Arc *arc)
	Appends arc to tag.
void	bounding_box_update (BoundingBox *bounding_box)
	Updates bounding_box to include the 4 corners of tag.
void	initialize (double angle, double x, double y, double diagonal, unsigned int visit)
	Initialize tag contents.
void	svg_write (SVG *svg)
	Writes tag out to svg.
	Tag (unsigned int id, Map map)
	Create and return a new Tag.
void	update_via_arc (Arc *arc, CV_Image image, unsigned int sequence_number)
	Updates the position and orientation of tag using arc.
void	write (File out_file)
	Writes tag out ot out_file in XML format.
Static Public Member Functions
static int	equal (Tag tag1, Tag tag2)
	Returns the sort order of tag1 to tag2.
static bool	less (Tag tag1, Tag tag2)
static Tag *	read (File in_file, Map map)
	Read in an XML <Tag ...> from in_file using map.
Public Attributes
std::vector< Arc * >	arcs_
	List Arc's connected to this Tag.
double	diagonal
	Fiducial tag diagnal distance in camera pixels.
unsigned int	hop_count
	Distance from origin in hops:
unsigned int	id
	Tag identifier.
bool	initialized
	True if rest of Tag is initialized.
Map	map
	Parent Map object.
double	twist
	The twist from the floor X axis to the tag bottom edge.
bool	updated
	Set if tag was updated.
bool	visible
	True if tag is currently visible in camera field of view.
unsigned int	visit
	Visit counter.
double	world_diagonal
	Distance along one side of the tag in world units.
double	x
	Absolute X floor coordinate.
double	y
	Absolute Y floor coordinate.
double	z
	Absolute Z floor coordinate.

Detailed Description

A *Tag_Struct* represents the location and orientation of one ceiling fiducial tag.

Definition at line 57 of file Tag.hpp.

Constructor & Destructor Documentation

Tag::Tag	(	unsigned int	id,
		Map	map
	)

Create and return a new *Tag*.

Parameters:

id	is the tag identifier.
map	is the map associated with the tag.

Returns:: new *Tag*.

Tag__create*() will create and return a *Tag* object with an identifier of *id*. This returned *Tag* is not *initialized* until *Tag__initialize*() is called.

Definition at line 63 of file Tag.cpp.

Member Function Documentation

void Tag::arc_append ( Arc * arc )

Appends *arc* to *tag*.

Parameters:

tag	to append to.
arc	to append.

Tag__arc_append*() will append *arc* to *tag*.

Definition at line 19 of file Tag.cpp.

void Tag::bounding_box_update ( BoundingBox * bounding_box )

Updates *bounding_box* to include the 4 corners of tag.

Parameters:

tag	is the tag to use to update bounding_box.
bounding_box	is the Bounding_Box to update.

Tab__bounding_box_update*() will ensure that the 4 corners of tag* will be enclosed by *bounding_box* when it comes time to graph *tag*.

Definition at line 32 of file Tag.cpp.

int Tag::equal	(	Tag *	tag1,
		Tag *	tag2
	)		`[static]`

Returns the sort order of *tag1* to *tag2*.

Parameters:

tag1	is the first Tag to compare.
tag2	is the second Tag to compare.

Returns:: -1, 0, or 1 depending upon sort order.

Tag__compare*() will return -1 if *tag1* sorts before *tag2*, 0 if they are equal, and 1 if *tag1* sorts after *tag2*.

Definition at line 46 of file Tag.cpp.

void Tag::initialize	(	double	twist,
		double	x,
		double	y,
		double	diagonal,
		unsigned int	visit
	)

Initialize *tag* contents.

Parameters:

tag	to intialize.
twist	is the fidicial twist relative to the floor X axis.
x	is the floor X coordinate of the fiducial center.
y	is the floor Y corrdinate of the fiducial center.
diagonal	is diagonal distance across the tag.
visit	is the visit number for the tree walker.

Tag__initialize*() will initialize *tag* to contain *twist*, *x*, and *y*. *twist* is the fiducial twist relative to the floor X axis measured in radians. *x*, *y*, are measured in any consistent set of units (millimeters, centimeters, meters, inches, light years, etc.) *visit* is used for the tree walker. diagonal* is in pixels.

Definition at line 94 of file Tag.cpp.

bool Tag::less	(	Tag *	tag1,
		Tag *	tag2
	)		`[static]`

Definition at line 50 of file Tag.cpp.

Tag * Tag::read	(	File	in_file,
		Map	map
	)		`[static]`

Read in an XML <Tag ...> from *in_file* using *map*.

Parameters:

in_file	to read from.
map	to use for Tag associations.

Returns:: *Tag* that was read in.

Tag__read*() will read in an XML <Tag ...> from *in_file* using *map* for *Tag* assoiciations. The resulting *Tag* is returned.

Definition at line 112 of file Tag.cpp.

void Tag::svg_write ( SVG * svg )

Writes *tag* out to *svg*.

Parameters:

tag	to write out.
svg	is the SVG object to use to write tag out to.

Tag__svg_write*() will write *tag* out to *svg* in scalable vector graphics format.

Definition at line 148 of file Tag.cpp.

void Tag::update_via_arc	(	Arc *	arc,
		CV_Image	image,
		unsigned int	sequence_number
	)

Updates the position and orientation of *tag* using *arc*.

Parameters:

tag	to update.
arc	to use to find the arc to update from.
image	is the current image being processed.
sequence_number	is the image sequence number.

Tag__update_via_arc*() will use the contents of *arc* to update the position and oritation of *tag*. The position is computed using the "other" end of *arc*.

Definition at line 194 of file Tag.cpp.

void Tag::write ( File out_file )

Writes *tag* out ot *out_file* in XML format.

Parameters:

tag	to write out.
out_file	to write to.

Tag__write*() will write *tag* out to *out_file* in XML format.

Definition at line 270 of file Tag.cpp.

Member Data Documentation

std::vector<Arc*> Tag::arcs_

List *Arc*'s connected to this *Tag*.

Definition at line 60 of file Tag.hpp.

double Tag::diagonal

Fiducial tag diagnal distance in camera pixels.

Definition at line 63 of file Tag.hpp.

unsigned int Tag::hop_count

Distance from origin in hops:

Definition at line 72 of file Tag.hpp.

unsigned int Tag::id

Tag identifier.

Definition at line 75 of file Tag.hpp.

bool Tag::initialized

True if rest of *Tag* is initialized.

Definition at line 69 of file Tag.hpp.

Map Tag::map

Parent *Map* object.

Definition at line 78 of file Tag.hpp.

double Tag::twist

The twist from the floor X axis to the tag bottom edge.

Definition at line 81 of file Tag.hpp.

bool Tag::updated

Set if tag was updated.

Definition at line 99 of file Tag.hpp.

bool Tag::visible

True if tag is currently visible in camera field of view.

Definition at line 84 of file Tag.hpp.

unsigned int Tag::visit

Visit counter.

Definition at line 87 of file Tag.hpp.

double Tag::world_diagonal

Distance along one side of the tag in world units.

Definition at line 66 of file Tag.hpp.

double Tag::x

Absolute X floor coordinate.

Definition at line 90 of file Tag.hpp.

double Tag::y

Absolute Y floor coordinate.

Definition at line 93 of file Tag.hpp.

double Tag::z

Absolute Z floor coordinate.

Definition at line 96 of file Tag.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation