#include <MultiSenseTypes.hh>

Public Attributes
std::string	family
	The family of the tag. More...

uint32_t	id
	The ID of the tag. More...

uint8_t	hamming
	The hamming distance between the detection and the real code. More...

float	decisionMargin
	The quality/confidence of the binary decoding process average difference between intensity of data bit vs decision thresh. More...

double	tagToImageHomography [3][3]
	The 3x3 homography matrix describing the projection from an "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1, -1)) to pixels in the image. More...

double	center [2]
	The 2D position of the origin of the tag in the image. More...

double	corners [4][2]
	The 4 tag corner pixel locations in the order: point 0: [-squareLength / 2, squareLength / 2] point 1: [ squareLength / 2, squareLength / 2] point 2: [ squareLength / 2, -squareLength / 2] point 3: [-squareLength / 2, -squareLength / 2]. More...

Detailed Description

Definition at line 2974 of file MultiSenseTypes.hh.

Member Data Documentation

◆ center

double crl::multisense::apriltag::Header::ApriltagDetection::center[2]

The 2D position of the origin of the tag in the image.

Definition at line 2990 of file MultiSenseTypes.hh.

◆ corners

double crl::multisense::apriltag::Header::ApriltagDetection::corners[4][2]

The 4 tag corner pixel locations in the order: point 0: [-squareLength / 2, squareLength / 2] point 1: [ squareLength / 2, squareLength / 2] point 2: [ squareLength / 2, -squareLength / 2] point 3: [-squareLength / 2, -squareLength / 2].

Definition at line 2996 of file MultiSenseTypes.hh.

◆ decisionMargin

float crl::multisense::apriltag::Header::ApriltagDetection::decisionMargin

The quality/confidence of the binary decoding process average difference between intensity of data bit vs decision thresh.

Higher is better. Only useful for small tags

Definition at line 2984 of file MultiSenseTypes.hh.

◆ family

std::string crl::multisense::apriltag::Header::ApriltagDetection::family

The family of the tag.

Definition at line 2976 of file MultiSenseTypes.hh.

◆ hamming

uint8_t crl::multisense::apriltag::Header::ApriltagDetection::hamming

The hamming distance between the detection and the real code.

Definition at line 2980 of file MultiSenseTypes.hh.

◆ id

uint32_t crl::multisense::apriltag::Header::ApriltagDetection::id

The ID of the tag.

Definition at line 2978 of file MultiSenseTypes.hh.

◆ tagToImageHomography

double crl::multisense::apriltag::Header::ApriltagDetection::tagToImageHomography[3][3]

The 3x3 homography matrix describing the projection from an "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1, -1)) to pixels in the image.

Definition at line 2988 of file MultiSenseTypes.hh.

The documentation for this struct was generated from the following file:

/home/malvarado/crl/LibMultiSense/source/Legacy/include/MultiSense/MultiSenseTypes.hh

Public Attributes