4.5 fiducial

Synopsis

The fiducial proxy provides an interface to a fiducial detector. This device looks for fiducials (markers or beacons) in the laser scan, and determines their identity, range, bearing and orientation. See the Player User Manual for a complete description of the various drivers that support the fiducial interface.

Data

struct playerc_fiducial_item_t : Description for a single fiducial.

int id;

Id (0 if fiducial cannot be identified).

double range, bearing, orient;

Beacon range, bearing and orientation.

typedef struct

Fiducial finder data.

playerc_device_t info;

Device info; must be at the start of all device structures.

double pose[3];
double size[2];
double fiducial_size[2];

Geometry in robot cs. These values are filled in by playerc_fiducial_get_geom(). [pose] is the detector pose in the robot cs, [size] is the detector size, [fiducial_size] is the fiducial size.

int fiducial_count;
playerc_fiducial_item_t fiducials[PLAYERC_FIDUCIAL_MAX_SAMPLES];

List of detected beacons.

Methods

playerc_fiducial_t *playerc_fiducial_create(playerc_client_t *client, int index);

Create a fiducial proxy.

void playerc_fiducial_destroy(playerc_fiducial_t *device);

Destroy a fiducial proxy.

int playerc_fiducial_subscribe(playerc_fiducial_t *device, int access);

Subscribe to the fiducial device.

int playerc_fiducial_unsubscribe(playerc_fiducial_t *device);

Un-subscribe from the fiducial device.

int playerc_fiducial_get_geom(playerc_fiducial_t *device);

Get the fiducial geometry. The writes the result into the proxy rather than returning it to the caller.