MultiMarkerBundle.h
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00001 /*
00002  * This file is part of ALVAR, A Library for Virtual and Augmented Reality.
00003  *
00004  * Copyright 2007-2012 VTT Technical Research Centre of Finland
00005  *
00006  * Contact: VTT Augmented Reality Team <alvar.info@vtt.fi>
00007  *          <http://www.vtt.fi/multimedia/alvar.html>
00008  *
00009  * ALVAR is free software; you can redistribute it and/or modify it under the
00010  * terms of the GNU Lesser General Public License as published by the Free
00011  * Software Foundation; either version 2.1 of the License, or (at your option)
00012  * any later version.
00013  *
00014  * This library is distributed in the hope that it will be useful, but WITHOUT
00015  * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
00016  * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License
00017  * for more details.
00018  *
00019  * You should have received a copy of the GNU Lesser General Public License
00020  * along with ALVAR; if not, see
00021  * <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>.
00022  */
00023 
00024 #ifndef MULTIMARKERBUNDLE_H
00025 #define MULTIMARKERBUNDLE_H
00026 
00034 #include "MultiMarker.h"
00035 #include "Optimization.h"
00036 
00037 namespace alvar {
00038 
00044 class ALVAR_EXPORT MultiMarkerBundle : public MultiMarker
00045 {
00046 protected:
00047         int optimization_keyframes;
00048         int optimization_markers;
00049         double optimization_error;
00050         bool optimizing;
00051         std::vector<Pose> camera_poses; // Estimated camera pose for every frame
00052         std::map<int, PointDouble> measurements; //
00053         int measurements_index(int frame, int marker_id, int marker_corner) {
00054                 // hop return (int) (frame*marker_indices.size()*4)+(marker_id*4)+marker_corner;
00055                 return (int) (frame*marker_indices.size()*4)+(get_id_index(marker_id)*4)+marker_corner;
00056         }
00057 
00058         void _MeasurementsAdd(MarkerIterator &begin, MarkerIterator &end, const Pose& camera_pose);
00059 
00060 public:
00061 
00065         MultiMarkerBundle(std::vector<int>& indices);
00066 
00067         ~MultiMarkerBundle();
00068 
00072         void MeasurementsReset();
00073 
00074         double GetOptimizationError() { return optimization_error; }
00075         int GetOptimizationKeyframes() { return optimization_keyframes; }
00076         int GetOptimizationMarkers() { return optimization_markers; }
00077         bool GetOptimizing() { return optimizing; }
00078 
00083         template <class M>
00084         void MeasurementsAdd(const std::vector<M> *markers, const Pose& camera_pose) {
00085             MarkerIteratorImpl<M> begin(markers->begin());
00086             MarkerIteratorImpl<M> end(markers->end());
00087         _MeasurementsAdd(begin, end,
00088                      camera_pose);
00089         }
00090                                                                                                                                                                                                                         //LEVENBERGMARQUARDT
00097         bool Optimize(Camera *_cam, double stop, int max_iter, Optimization::OptimizeMethod method = Optimization::TUKEY_LM); //TUKEY_LM
00098 };
00099 
00100 } // namespace alvar
00101 
00102 #endif


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Sat Dec 28 2013 16:46:15