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Namespace : AL
#include <alproxies/allandmarkdetectionproxy.h>
Raised when one or several landmarks are currently being detected.
Parameters: |
|
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The output ALValue is organized as follows:
ALLandMarkDetection {
TimeStamp,
MarkInfo[N],
CameraPoseInFrameTorso,
CameraPoseInFrameRobot,
CurrentCameraName
}
with as many mark_info tags as marks currently detected.
This field is the time stamp of the image that was used to perform the detection.
TimeStamp {
TimeStamp_Seconds,
Timestamp_Microseconds
}
For each detected mark, we have one MarkInfo field:
MarkInfo {
ShapeInfo,
MarkID
}
ShapeInfo {
1,
alpha,
beta,
sizeX,
sizeY,
heading
}
is the number written on the Naomark and which corresponds to its pattern.
Position6D of the camera at the time the image was taken, in FRAME_TORSO.
Position6D of the camera at the time the image was taken, in FRAME_ROBOT.
Name of the camera that was used to take the image (“CameraTop”, or “CameraBottom”).