ALLandMarkDetection is a module which detects and recognizes Naomarks. The output value is written in ALMemory in the LandmarkDetected variable.
It contains an array of tags, with the following format:
[ [timestamp_seconds, timestamp_microseconds], [mark_info_0, mark_info_1, .. , mark_info_N] ]
with as many mark_info tags as marks currently detected.
mark_info_x = [ [shape, alpha, beta, sizeX, sizeY, heading], [markID] ].
- alpha and beta represent the Naomark's location in terms of camera angles
- sizeX and sizeY are the mark's size in camera angles
- the heading angle describes how the Naomark is oriented about the vertical axis with regards to Nao's head.
- Mark ID is the number written on the naomark and which corresponds to its pattern.
string version ()
Returns the version of the module.
A string containing the version of the module.
AL::ALValue getMethodHelp (const string& methodName)
Retrieves a method's description.
The name of the method.
A structure containing the method's description.
AL::ALValue getModuleHelp ()
Retrieves the module's description.
A structure describing the module.
string getUsage (const string& name)
Gets the method usage string. This summarise how to use the method.
The name of the method.
A string that summarises the usage of the method.
void subscribe (const string& name, const int& period, const float& precision)
Subscribes to the extractor. This causes the extractor to start writing information to memory using the keys described by getOutputNames(). These can be accessed in memory using ALMemory.getData("keyName"). In many cases you can avoid calling subscribe on the extractor by just calling ALMemory.subscribeToEvent() supplying a callback method. This will automatically subscribe to the extractor for you.
Name of the module which subscribes.
Refresh period (in milliseconds) if relevant.
Precision of the extractor if relevant.
void subscribe (const string& name)
Subscribes to the extractor. This causes the extractor to start writing information to memory using the keys described by getOutputNames(). These can be accessed in memory using ALMemory.getData("keyName"). In many cases you can avoid calling subscribe on the extractor by just calling ALMemory.subscribeToEvent() supplying a callback method. This will automatically subscribe to the extractor for you.
Name of the module which subscribes.
void unsubscribe (const string& name)
Unsubscribes from the extractor.
Name of the module which had subscribed.
void updatePeriod (const string& name, const int& period)
Updates the period if relevant.
Name of the module which has subscribed.
Refresh period (in milliseconds).
void updatePrecision (const string& name, const float& precision)
Updates the precision if relevant.
Name of the module which has subscribed.
Precision of the extractor.
int getMyPeriod (const string& name)
Gets the period for a specific subscription.
Name of the module which has subscribed.
Refresh period (in milliseconds).
float getMyPrecision (const string& name)
Gets the precision for a specific subscription.
name of the module which has subscribed
precision of the extractor
AL::ALValue getSubscribersInfo ()
Gets the parameters given by the module.
Array of names and parameters of all subscribers.
vector<string> getOutputNames ()
Get the list of values updated in ALMemory.
Array of values updated by this extractor in ALMemory