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rework completely the aruco system

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This commit is contained in:
ackimixs
2024-04-22 11:51:04 +02:00
parent f4efd38059
commit 4458fd814b
4 changed files with 296 additions and 292 deletions
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43
utils.cpp
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@@ -35,7 +35,7 @@ std::vector<std::string> TCPUtils::split(const std::string& str, const std::stri
}
ArucoTag::ArucoTag(int id, std::string name, std::pair<float[2], float[3]> pos) : _id(id), _name(std::move(name)), _pos(pos) {}
ArucoTag::ArucoTag(int id, std::string name, std::array<float, 2> pos, std::array<float, 3> rot) : _id(id), _name(std::move(name)), _pos(pos), _rot(rot) {}
int ArucoTag::id() const {
return _id;
@@ -45,10 +45,14 @@ std::string ArucoTag::name() const {
return _name;
}
std::pair<float[2], float[3]> ArucoTag::pos() const {
std::array<float, 2> ArucoTag::pos() const {
return _pos;
}
std::array<float, 3> ArucoTag::rot() const {
return _rot;
}
void ArucoTag::setId(int id) {
_id = id;
}
@@ -58,23 +62,36 @@ void ArucoTag::setName(const std::string& name) {
}
void ArucoTag::setPos(float x, float y) {
_pos.first[0] = x;
_pos.first[1] = y;
this->_pos[0] = x;
this->_pos[1] = y;
}
void ArucoTag::setRot(float x, float y, float z) {
_pos.second[0] = x;
_pos.second[1] = y;
_pos.second[2] = z;
this->_rot[0] = x;
this->_rot[1] = y;
this->_rot[2] = z;
}
ArucoTag& ArucoTag::operator=(const ArucoTag& tag) {
_id = tag.id();
_name = tag.name();
_pos.first[0] = tag.pos().first[0];
_pos.first[1] = tag.pos().first[1];
_pos.second[0] = tag.pos().second[0];
_pos.second[1] = tag.pos().second[1];
_pos.second[2] = tag.pos().second[2];
_pos = tag.pos();
_rot = tag.rot();
return *this;
}
}
FlowerAruco::FlowerAruco() : tag(nullptr), _realPos({0, 0}) {
}
FlowerAruco::FlowerAruco(ArucoTag *tag) : tag(tag), _realPos({0, 0}) {
}
ArucoTag *FlowerAruco::getTag() const {
return tag;
}
std::array<float, 2> FlowerAruco::getPos() const {
return _realPos;
}