NAOqi Vision - Overview | API
This module requires a robot with a 3D sensor.
Namespace : AL
#include <alproxies/alsegmentation3Dproxy.h>
Returns: | The current value of DepthThreshold (in meters) for the segmentation. The default value is 0.05m. See definition of DepthThreshold in section Segmentation. |
---|
Returns: | The current value of BlobTrackingDistance (in meters). See definition of BlobTrackingDistance in section Blob tracking. |
---|
This function is like a “one-shot” version of the Blob tracking
Returns the position of the TopOfBlob of the blob the most in the center, present at a distance near the given distance dist.
Parameters: |
|
---|---|
Returns: | If frame equals -1, result = [xAngle, yAngle, distBlob] where [xAngle,yAngle] are the angular coordinates in the image and distBlob is the real distance of the blob with respect ot the camera. If frame equals 0,1 or 2, result = [x, y, z] where [x,y,z] are the coordinates in the corresponding frame. |
Returns: | The current value of the VerticalOffset (in meters). The default value is -0.2m. A negative value means that the offset will be substracted to the position of TopOfBlob. See definition of VerticalOffset in section Blob tracking. |
---|
Returns: | true if blob tracking is running, false otherwise. |
---|
Sets the value of BlobTrackingDistance. See definition of BlobTrackingDistance in section Blob tracking.
Parameters: |
|
---|
Turns on or off the blob tracking.
Parameters: |
|
---|
Sets the value of DepthThreshold (in meters) used for the segmentation. See definition of DepthThreshold in section Segmentation.
Parameters: |
|
---|
Sets the value of VerticalOffset. See definition of VerticalOffset in section Blob tracking.
Parameters: |
|
---|
Raised each time the tracked blob is detected, with a structure that can be used with function ALTrackerProxy::trackEvent() of the module ALTracker. For more details, see: Blob tracking.
Raised each time the tracked blob is detected. The information about the updated position of the tracked blob can be accessed using the memory key Segmentation3D/TopOfTrackedBlob. For more details, see: Blob tracking.
Raised each time segmentation is computed. The description of the blobs of the updated segmentation can be accessed using the memory key Segmentation3D/BlobsList. For more details, see: Segmentation.
Raised each time the tracked blob is not detected. For more details, see: Blob tracking.
Contains the list of blobs after segmentation.
BlobsList =
[
TimeStamp,
[BlobInfo_1, BlobInfo_2, ... BlobInfo_n],
CameraPose_InTorsoFrame,
CameraPose_InRobotFrame,
Camera_Id
]
TimeStamp: this field is the time stamp of the image that was used to perform the detection.
TimeStamp [
TimeStamp_Seconds,
Timestamp_Microseconds
]
BlobInfo_i: each of these fields contains the description of a blob of similar depth:
BlobInfo_i =
[
PositionOfCog,
AngularRoi,
MeanDistance,
RealSizeRoi,
TopOfBlob
]
CameraPose_InTorsoFrame: describes the Position6D of the depth camera at the time the image was taken, in FRAME_TORSO.
CameraPose_InRobotFrame: describes the Position6D of the depth camera at the time the image was taken, in FRAME_ROBOT.
Camera_Id: gives the Id of the depth camera used for the detection.
Contains the infomation about the tracked blob.
TopOfTrackedBlob =
[
TimeStamp,
Position,
CameraPose_InTorsoFrame,
CameraPose_InRobotFrame,
Camera_Id
]
TimeStamp: this field is the time stamp of the image that was used to perform the detection.
TimeStamp [
TimeStamp_Seconds,
Timestamp_Microseconds
]
Position = [xAngle,yAngle,distance], where [xAngle,yAngle] are the angular coordinates (in radians) in the image of the top of the blob after applying the offset, and distance is the distance between the blob and the camera.
CameraPose_InTorsoFrame: describes the Position6D of the depth camera at the time the image was taken, in FRAME_TORSO.
CameraPose_InRobotFrame: describes the Position6D of the depth camera at the time the image was taken, in FRAME_ROBOT.
Camera_Id: gives the Id of the depth camera used for the detection.