Feature Tracker Initialization parameters structure. More...

Inheritance diagram for FiducialTracker::Parameters:

Collaboration diagram for FiducialTracker::Parameters:

Public Attributes
FiducialType	detector_type
	Detector type.

unsigned int	predefined_dict {0}
	Predefined dictionary.

unsigned int	squares_x {1}
	Number of squares in the x direction.

unsigned int	squares_y {1}
	Number of squares in the y direction.

double	square_length {1.0}
	Checkerboard square length.

double	marker_length {1.0}
	Marker length.

unsigned int	id {0}
	Initial ID.

Eigen::Vector3d	pos_f_in_l
	Fiducial position.

Eigen::Quaterniond	ang_f_to_l
	Fiducial orientation.

bool	is_extrinsic {false}
	Perform extrinsic calibration.

Eigen::VectorXd	variance {{1, 1, 1, 1, 1, 1}}
	Fiducial marker variance.

bool	is_cam_extrinsic {false}
	Flag for extrinsic camera calibration.

Public Attributes inherited from Tracker::Parameters
std::string	name {""}
	Feature Tracker name.

int	camera_id {-1}
	Associated sensor ID.

std::string	log_directory {""}
	Feature Tracker data logging directory.

Intrinsics	intrinsics
	Camera intrinsic parameters.

unsigned int	min_track_length {2}
	Minimum track length to consider.

unsigned int	max_track_length {20}
	Maximum track length before forced output.

double	data_log_rate {0.0}
	Data logging rate.

std::shared_ptr< DebugLogger >	logger
	Debug logger.

std::shared_ptr< EKF >	ekf
	EKF to update.

Detailed Description

Feature Tracker Initialization parameters structure.

The documentation for this struct was generated from the following file:

Public Attributes