Fiducial format

fiducial log format

The following messages from interface_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