This is a pre-release version of the original work. The original work is available at [redmine](https://redmine.laas.fr/projects/genom-vision/repository/arucotag-genom3).

arucotag component

martin.jacquet@laas.fr 2.1 :toc: left

Ports

pose (multiple out)

Data structure struct ::or_pose_estimator::state pose struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

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pixel_pose (multiple out)

Data structure struct ::or::sensor::pixel pixel_pose struct ::or::time::ts ts long sec long nsec optional< struct ::or::sensor::pix_s > pix unsigned short x unsigned short y

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drone (in)

Data structure struct ::or_pose_estimator::state drone struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

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frame (in)

Data structure struct ::or::sensor::frame frame struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

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intrinsics (in)

Data structure struct ::or::sensor::intrinsics intrinsics struct ::or::sensor::calibration calib float fx float fy float cx float cy float gamma struct ::or::sensor::distortion disto float k1 float k2 float k3 float p1 float p2

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extrinsics (in)

Data structure struct ::or::sensor::extrinsics extrinsics struct ::or::sensor::translation trans float tx float ty float tz struct ::or::sensor::rotation rot float roll float pitch float yaw

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output (out)

Data structure struct ::or::sensor::frame output struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

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Services

add_marker (activity)

Inputs string<16> marker Marker name

Throws exception ::arucotag::e_io string<128> what

Context In task detect Updates port pose (multiple out) Updates port pixel_pose (multiple out)

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remove_marker (activity)

Inputs string<16> marker Marker name

Throws exception ::arucotag::e_io string<128> what

Context In task detect Updates port pose (multiple out) Updates port pixel_pose (multiple out)

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set_calib (activity)

Throws exception ::arucotag::e_io string<128> what

Context In task detect Reads port intrinsics (in) Reads port extrinsics (in)

Read calibration from input ports and update internal matrices.

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set_length (attribute)

Inputs float length Length of tags

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set_pix_cov (attribute)

Inputs unsigned short s_pix (default "2") Isotropic pixel covariance of corners of the tags

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output_frame (attribute)

Inputs short out_frame (default "0") desired output frame (0: camera; 1: body; 2: world)

Throws exception ::arucotag::e_sys short code string<128> what

Sets the frame in which the output coordinates are expressed. Possible frames are camera (0), body (1) or world (2). (1) assumes that the extrinsic parameters of the camera are properly set. (2) assumes (1) and that the drone input port is connected.

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stop (function)

Stops the component until resume() is called.

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resume (function)

Restarts the component if stop() was called.

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log (function)

Inputs string<64> path (default "/tmp/arucotag.log") Log file name unsigned long decimation (default "1") Reduced logging frequency

Throws exception ::arucotag::e_sys short code string<128> what

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log_stop (function)

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log_info (function)

Outputs unsigned long miss Missed log entries unsigned long total Total log entries

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Tasks

detect

Context Free running Updates port pose (multiple out) Updates port pixel_pose (multiple out) Reads port drone (in) Reads port frame (in) Reads port intrinsics (in) Reads port extrinsics (in) Updates port output (out)

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