Initializes multi marker by estimating their relative positions from one or more images. More...

#include <MultiMarkerInitializer.h>

Inheritance diagram for alvar::MultiMarkerInitializer:

Classes
class	MarkerMeasurement
	MarkerMeasurement that holds the maker id. More...
Public Member Functions
int	getMeasurementCount ()
const std::vector < MarkerMeasurement, Eigen::aligned_allocator < MarkerMeasurement > > &	getMeasurementMarkers (int measurement)
double	getMeasurementPose (int measurement, Camera *cam, Pose &pose)
int	Initialize (Camera *cam)
template<class M >
void	MeasurementsAdd (const std::vector< M, Eigen::aligned_allocator< M > > *markers)
void	MeasurementsReset ()
	MultiMarkerInitializer (std::vector< int > &indices, int filter_buffer_min=4, int filter_buffer_max=15)
	~MultiMarkerInitializer ()
Protected Types
typedef std::vector < std::vector < MarkerMeasurement, Eigen::aligned_allocator < MarkerMeasurement > > >::iterator	MeasurementIterator
Protected Member Functions
void	MeasurementsAdd (MarkerIterator &begin, MarkerIterator &end)
bool	updateMarkerPoses (std::vector< MarkerMeasurement, Eigen::aligned_allocator< MarkerMeasurement > > &markers, const Pose &pose)
Protected Attributes
int	filter_buffer_min
std::vector< bool >	marker_detected
std::vector< std::vector < MarkerMeasurement, Eigen::aligned_allocator < MarkerMeasurement > > >	measurements
FilterMedian *	pointcloud_filtered

Detailed Description

Initializes multi marker by estimating their relative positions from one or more images.

To use, detect markers from images using MarkerDetector and call addMeasurement for each image that has at least two markers. Finally, call initialize to compute the relative positions of markers.

After the multi marker has been initialized, the point cloud can be copied into another MultiMarker implementation by PointCloudCopy.

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 50 of file MultiMarkerInitializer.h.

Member Typedef Documentation

typedef std::vector<std::vector<MarkerMeasurement, Eigen::aligned_allocator<MarkerMeasurement> > >::iterator alvar::MultiMarkerInitializer::MeasurementIterator [protected]

Definition at line 68 of file MultiMarkerInitializer.h.

Constructor & Destructor Documentation

alvar::MultiMarkerInitializer::MultiMarkerInitializer	(	std::vector< int > &	indices,
		int	filter_buffer_min = `4`,
		int	filter_buffer_max = `15`
	)

Definition at line 32 of file MultiMarkerInitializer.cpp.

alvar::MultiMarkerInitializer::~MultiMarkerInitializer ( )

Member Function Documentation

int alvar::MultiMarkerInitializer::getMeasurementCount ( ) [inline]

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 113 of file MultiMarkerInitializer.h.

const std::vector<MarkerMeasurement, Eigen::aligned_allocator<MarkerMeasurement> >& alvar::MultiMarkerInitializer::getMeasurementMarkers ( int measurement ) [inline]

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 115 of file MultiMarkerInitializer.h.

double alvar::MultiMarkerInitializer::getMeasurementPose	(	int	measurement,
		Camera *	cam,
		Pose &	pose
	)		`[inline]`

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 119 of file MultiMarkerInitializer.h.

int alvar::MultiMarkerInitializer::Initialize ( Camera * cam )

Tries to deduce marker poses from measurements.

Returns the number of initialized markers.

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 94 of file MultiMarkerInitializer.cpp.

void alvar::MultiMarkerInitializer::MeasurementsAdd	(	MarkerIterator &	begin,
		MarkerIterator &	end
	)		`[protected]`

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 44 of file MultiMarkerInitializer.cpp.

template<class M >

void alvar::MultiMarkerInitializer::MeasurementsAdd ( const std::vector< M, Eigen::aligned_allocator< M > > * markers ) [inline]

Adds a new measurement for marker field initialization. Each measurement should contain at least two markers. It does not matter which markers are visible, especially the zero marker does not have to be visible in every measurement. It suffices that there exists a 'path' from the zero marker to every other marker in the marker field.

For example:

first measurement contains marker A and B.
second measurement containt markers ZERO and A.

When Initialize is called, the system can first deduce the pose of A and then the pose of B.

Definition at line 95 of file MultiMarkerInitializer.h.

void alvar::MultiMarkerInitializer::MeasurementsReset ( )

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 83 of file MultiMarkerInitializer.cpp.

bool alvar::MultiMarkerInitializer::updateMarkerPoses	(	std::vector< MarkerMeasurement, Eigen::aligned_allocator< MarkerMeasurement > > &	markers,
		const Pose &	pose
	)		`[protected]`