TagLayoutParser

class TagLayoutParser

The Apriltag layout .fmap parser. Read the global tag positions from the .fmap file to create a std::map<int, Pose_single> object, which maps Apriltag IDs to their global position on field. All tag IDs in the .fmap file should be unique.

All poses are in degrees and meters, with the origin 0,0,0 being at the center of the field. From the red alliance, the front of the tag is visible, with the X axis towards the red alliance, Y axis right, and Z axis up.

Use the Limelight tools map builder tool to create a .fmap file from scratch - https://tools.limelightvision.io/map-builder, or download an existing file.

Public Functions

TagLayoutParser() = delete

No instantiation of this class, only used for its ParseConfig function.

void operator=(TagLayoutParser const&) = delete

No instantiation of this class, only used for its ParseConfig function.

Public Static Functions

static inline std::map<int, Pose_single> ParseConfig(const std::string &cfg_file)

Parse the configuration file for tags. All tags should have unique ids, maximum of 25 tags.

Parameters:

cfg_file – The path to the .fmap configuration file relative to the TagLayoutParser.h file.

Returns:

The mapping between tag IDs and their location on the field in the global field frame.