ArUco Marker¶
A virtual representation of an ArUco Marker
The ArUco marker is an AR-Marker that allows to compute the camera pose from images in the ‘real world’.
See: http://www.uco.es/investiga/grupos/ava/node/26
The purpose of this actuator is to provide a virtual instance of such a marker in MORSE. By adding an ArUco marker to a MORSE simulation you can subsequently stream/export a (virtual) camera image and eventually use an AR Marker without a physical camera setup or, i.e, test algorithms or simulate visual servoring.
Configuration parameters for ArUco Marker¶
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...)
.
xoffset
(float, default:0.0
)X axis translation offset in metres
yoffset
(float, default:0.0
)Y axis translation offset in metres
zoffset
(float, default:0.0
)Z axis translation offset in metres
Data fields¶
This actuator reads these datafields at each simulation step:
x
(float, initial value:0.0
)X axis translation metres
y
(float, initial value:0.0
)Y axis translation metres
z
(float, initial value:0.0
)Z axis translation metres
roll
(float, initial value:0.0
)X axis rotation in rad
pitch
(float, initial value:0.0
)Y axis rotation in rad
yaw
(float, initial value:0.0
)Z axis rotation in rad
Interface support:
socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as yarp::Bottle (morse.middleware.yarp_datastream.YarpReader
)ros
as PoseReader (morse.middleware.ros.read_pose.PoseReader
)
Services for ArUco Marker¶
get_local_position()
(blocking)(no documentation yet)
get_world_orientation()
(blocking)(no documentation yet)
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
get_local_orientation()
(blocking)(no documentation yet)
get_world_position()
(blocking)(no documentation yet)
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
### Add a virtual ArUco marker to the scene
robot = Morsy()
aruco = Arucomarker()
aruco.add_stream('ros', topic="/aruco_pose")
aruco.properties(zoffset=0.3, xoffset=-0.09, yoffset=.0)
robot.append(aruco)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.arucomarker.)