apriltag_pose.h

Go to the documentation of this file.

#pragma once
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
#include "apriltag.h"
#include "common/matd.h"
 
typedef struct {
    apriltag_detection_t* det;
    double tagsize; // In meters.
    double fx; // In pixels.
    double fy; // In pixels.
    double cx; // In pixels.
    double cy; // In pixels.
} apriltag_detection_info_t;
 
typedef struct {
    matd_t* R; // Rotation matrix 3x3 of doubles.
    matd_t* t; // Translation matrix 3x1 of doubles.
} apriltag_pose_t;
 
void estimate_pose_for_tag_homography(
        apriltag_detection_info_t* info,
        apriltag_pose_t* pose);
 
void estimate_tag_pose_orthogonal_iteration(
        apriltag_detection_info_t* info,
        double* err1,
        apriltag_pose_t* pose1,
        double* err2,
        apriltag_pose_t* pose2,
        int nIters);
 
double estimate_tag_pose(apriltag_detection_info_t* info, apriltag_pose_t* pose);
 
#ifdef __cplusplus
}
#endif