fiducial format

fiducial log format More...

fiducial log format

The following messages from fiducial interface are logged:

PLAYER_MSGTYPE_DATA:PLAYER_FIDUCIAL_DATA_SCAN (1:1) has the folowing format:

• count (int): number of fiducials to follow
• list of fiducials; for each fiducial:
  • id (int): fiducial ID
  • x (float): relative X position, in meters
  • y (float): relative Y position, in meters
  • z (float): relative Z position, in meters
  • roll (float): relative roll orientation, in radians
  • pitch (float): relative pitch orientation, in radians
  • yaw (float): relative yaw orientation, in radians
  • ux (float): uncertainty in relative X position, in meters
  • uy (float): uncertainty in relative Y position, in meters
  • uz (float): uncertainty in relative Z position, in meters
  • uroll (float): uncertainty in relative roll orientation, in radians
  • upitch (float): uncertainty in relative pitch orientation, in radians
  • uyaw (float): uncertainty in relative yaw orientation, in radians

PLAYER_MSGTYPE_RESP_ACK:PLAYER_FIDUCIAL_REQ_GET_GEOM (4:1) has the following format:

• x (float): relative X position, in meters
• y (float): relative Y position, in meters
• z (float): relative Z position, in meters
• roll (float): relative roll orientation, in radians
• pitch (float): relative pitch orientation, in radians
• yaw (float): relative yaw orientation, in radians
• length (float): fiducial finder length, in meters
• width (float): fiducial finder width, in meters
• height (float): fiducial finder height, in meters
• fiducial_length (float): fiducial marker length, in meters
• fiducial_width (float): fiducial marker width, in meters