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Fiducial

Interface to a device that detects markers in the environment (visual markers, laser barcodes, etc).

Inputs

None.

Outputs

Port name Purpose Data
Fiducials Detected fiducial markers. Fiducials

Fiducials

Member Type Description
time Time Time stamp.
Fiducials sequence<Fiducial> List of detected fiducials.

Fiducial

Member Type Description
id unsigned long Identification number of the fiducial.
pose Pose3D Pose of the detected fiducial.
poseUncertainty Pose3D Uncertainty in the calculated pose.
size Size3D Size of the detected fiducial.
sizeUncertainty Size3D Uncertainty in the calculated size.

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry3D
GetFOV Get the field of view of the fiducial finder. None FiducialFOV
SetFOV Set the field of view of the fiducial finder. FiducialFOV newFOV None

FiducialFOV

Member Type Description
minRange double Minimum range in metres at which fiducials can be detected.
maxRange double Maximum range in metres at which fiducials can be detected.
viewAngle double Receptive angle in radians of the fiducial finder.
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最新バージョン : 2.1.0-RELESE

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