M4 Body Definition File |
The M4 Body Definition File is formatted as an XML file. Just as a note, the original implementation used OpenCV hence some of the format still has some left-overs from this implementation.
XML Tags
Template Tags
Example of a M4 Body Definition File with 2 bodies defined <?xml version="1.0" encoding="utf-8"?> <opencv_storage> <!-- Marker Template Configuration --> <num_templates>2</num_templates> <!-- ------------------------ --> <!-- Rigid Body Definition #1 --> <!-- ------------------------ --> <Template_1 type_id="opencv-matrix"> <name>6LEDBody</name> <rows>4</rows> <cols>6</cols> <resid>0.735536</resid> <dt>f</dt> <data>0.000000 -38.532391 -4.320033 -10.248395 -33.849831 -39.174374 0.000000 0.000000 -47.484428 12.001620 11.188959 -45.219646 0.000000 0.000000 0.000000 24.656393 22.697945 5.740541 1.000000 1.000000 1.000000 1.000000 1.000000 1.000000 </data> </Template_1> <!-- ------------------------ --> <!-- Rigid Body Definition #2 --> <!-- ------------------------ --> <Template_2 type_id="opencv-matrix"> <name>4LEDBody</name> <rows>4</rows> <cols>4</cols> <resid>0.203939</resid> <dt>f</dt> <data>0.000000 -32.347015 -25.643072 -13.093020 0.000000 0.000000 -12.134756 -27.416777 0.000000 0.000000 0.000000 -1.827325 1.000000 1.000000 1.000000 1.000000 </data> </Template_2> </opencv_storage>
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