Main ALVAR namespace. More...

Namespaces
namespace	plugins
	Dynamically loaded plugins namespace.
Classes
class	AlvarException
	ALVAR exception class. More...
struct	AlvarLoader
class	Bitset
	Bitset is a basic class for handling bit sequences More...
class	BitsetExt
	An extended Bitset ( BitsetExt ) for handling e.g. Hamming encoding/decoding. More...
class	Camera
	Simple Camera class for calculating distortions, orientation or projections with pre-calibrated camera. More...
class	CameraEC
	Version of Camera using external container. More...
class	CameraMoves
class	Capture
	Capture interface that plugins must implement. More...
class	CaptureDevice
	CaptureDevice holder for camera information. More...
class	CaptureFactory
	CaptureFactory for creating Capture classes. More...
class	CaptureFactoryPrivate
class	CapturePlugin
	CapturePlugin interface that plugins must implement. More...
class	Container3d
	Generic container to store any information in 3D (features, photos, ...) More...
class	Container3dLimitDist
	Functor class for Container3d Limit() to limit the search space with distance. More...
class	Container3dSortDist
	Functor class for Container3d Sort() to sort the search base using distance to specified origin. More...
class	Container3dSortSize
	Functor class for Container3d Sort() to sort the search base using content size. More...
class	DirectoryIterator
	DirectoryIterator for iterating over files and directories. More...
class	DirectoryIteratorPrivate
class	DirectoryIteratorPrivateData
class	DoEraseTest
	This is default functor for testing which items in the container should be erased. More...
class	DoHandleTest
	This is a default functor for testing which items in the container should be handled by each method. More...
class	ExternalContainer
	Basic structure to be usable with EC methods. More...
class	FernClassifierWrapper
	FernClassifier subclass that implements binary reading and writting. More...
class	FernImageDetector
	Image detector based on a Fern classifier. More...
class	FernPoseEstimator
	Pose estimation class for FernImageDetector. More...
class	FileFormatUtils
	Utility functions for file reading / writing. More...
class	Filter
	Filter is pure virtual class describing the basic virtual interface for all filters More...
class	FilterArray
	Class for handling an array of filtered values. More...
class	FilterAverage
	FilterAverage provides an average filter More...
class	FilterDoubleExponentialSmoothing
	FilterDoubleExponentialSmoothing provides an weighted running average filter More...
class	FilterMedian
	FilterMedian provides an median filter More...
class	FilterRunningAverage
	FilterRunningAverage provides an weighted running average filter More...
class	Histogram
	Class for N-dimensional Histograms. More...
class	HistogramSubpixel
	N-dimensional Histograms calculating also the subpixel average for max bin. More...
struct	Homography
	Simple Homography class for finding and projecting points between two planes. More...
struct	Index
	Class for N-dimensional index to be used e.g. with STL maps. More...
class	IndexRansac
	Implementation of a general RANdom SAmple Consensus algorithm with implicit parameters. More...
class	IntegralGradient
	IntegralGradient is used for calculating rectangular image gradients rapidly More...
class	IntegralImage
	IntegralImage is used for calculating rectangular image sums and averages rapidly More...
class	IntIndex
	Class for calculating "evenly spaced" integer indices for data sequence. More...
class	Kalman
	Kalman implementation. More...
class	KalmanCore
	Core implementation for Kalman. More...
class	KalmanEkf
	Extended Kalman Filter (EKF) implementation. More...
class	KalmanSensor
	Kalman sensor implementation. More...
class	KalmanSensorCore
	Core implementation for Kalman sensor. More...
class	KalmanSensorEkf
	Extended Kalman Filter (EKF) sensor implementation. More...
class	KalmanVisualize
	Class for visualizing Kalman filter. More...
class	Labeling
	Base class for labeling connected components from binary image. More...
class	LabelingCvSeq
	Labeling class that uses OpenCV routines to find connected components. More...
struct	Line
	Struct representing a line. The line is parametrized by its center and direction vector. More...
class	Lock
	Lock for simplifying mutex handling. More...
class	Marker
	Basic 2D Marker functionality. More...
class	MarkerArtoolkit
	MarkerArtoolkit for using matrix markers similar with the ones used in ARToolkit. More...
class	MarkerData
	MarkerData contains matrix of Hamming encoded data. More...
class	MarkerDetector
	MarkerDetector for detecting markers of type M More...
class	MarkerDetectorEC
	Version of MarkerDetector using external container. More...
class	MarkerDetectorImpl
	Templateless version of MarkerDetector. Please use MarkerDetector instead. More...
class	MarkerIterator
	Iterator type for traversing templated Marker vector without the template. More...
class	MarkerIteratorImpl
	Iterator implementation for traversing templated Marker vector without the template. More...
class	MultiMarker
	Base class for using MultiMarker. More...
class	MultiMarkerBundle
	Multi marker that uses bundle adjustment to refine the 3D positions of the markers (point cloud). More...
class	MultiMarkerEC
	Version of MultiMarker using external container. More...
class	MultiMarkerFiltered
	Multi marker that is constructed by first calculating the marker poses directly relative to base marker and then filtering the results using e.g. median filter. More...
class	MultiMarkerInitializer
	Initializes multi marker by estimating their relative positions from one or more images. More...
class	Mutex
	Mutex for synchronizing multiple threads. More...
class	MutexPrivate
class	MutexPrivateData
class	Optimization
	Non-linear optimization routines. There are three methods implemented that include Gauss-Newton, Levenberg-Marquardt and Tukey m-estimator. More...
class	Plugin
	Plugin for loading dynamic libraries. More...
class	PluginPrivate
class	PluginPrivateData
struct	Point
	Simple Point class meant to be inherited from OpenCV point-classes. For example: Point<CvPoint2D64f> p. More...
class	Pose
	Pose representation derived from the Rotation class More...
struct	ProjectParams
struct	ProjPoints
	Simple structure for collecting 2D and 3D points e.g. for camera calibration. More...
class	Ransac
	Implementation of a general RANdom SAmple Consensus algorithm. More...
class	RansacImpl
	Internal implementation of RANSAC. Please use Ransac or IndexRansac. More...
class	Rotation
	Rotation structure and transformations between different parameterizations. More...
class	Serialization
	Class for serializing class content to/from file or std::iostream. More...
struct	SerializationFormatterXml
class	SimpleSfM
	Simple structure from motion implementation using CameraEC , MarkerDetectorEC and TrackerFeaturesEC. More...
struct	StartThreadParameters
class	Threads
	Threads vector for handling multiple threads. More...
class	ThreadsPrivate
class	ThreadsPrivateData
class	Timer
	Timer for measuring execution time. More...
class	TimerPrivate
class	TimerPrivateData
class	Tracker
	Pure virtual base class for tracking optical flow. More...
class	TrackerFeatures
	TrackerFeatures tracks features using OpenCV's cvGoodFeaturesToTrack and cvCalcOpticalFlowPyrLK More...
class	TrackerFeaturesEC
	Version of TrackerFeatures using external container. More...
class	TrackerOrientation
	Track orientation based only on features in the image plane. More...
class	TrackerPsa
	TrackerPsa implements a very simple PSA tracker More...
class	TrackerPsaRot
	TrackerPsaRot implements a slightly extended version of a TrackerPsa which can also detect sideways rotation More...
class	TrackerStat
	TrackerStat deduces the optical flow based on tracked features using Seppo Valli's statistical tracking. More...
class	TrackerStatRot
	TrackerStatRot implements a slightly extended version of TrackerStat which can also detect sideways rotation. More...
class	TrifocalTensor
	Trifocal tensor works for three images like a fundamental matrix works for two images. More...
class	Uncopyable
	Uncopyable for preventing object copies. More...
class	UnscentedKalman
	Implementation of unscented kalman filter (UKF) for filtering non-linear processes. More...
class	UnscentedObservation
	Observation model for an unscented kalman filter. More...
class	UnscentedProcess
	Process model for an unscented kalman filter. More...
Typedefs
typedef ALVAR_EXPORT Point < CvPoint2D64f >	PointDouble
	The default double point type.
typedef ALVAR_EXPORT Point < CvPoint >	PointInt
	The default integer point type.
Enumerations
enum	FILE_FORMAT { FILE_FORMAT_DEFAULT, FILE_FORMAT_OPENCV, FILE_FORMAT_TEXT, FILE_FORMAT_XML }
Functions
template<class T >
T	absdiff (T c1, T c2)
void	alvarInfo ()
double ALVAR_EXPORT	angle (CvPoint A, CvPoint B, CvPoint C, CvPoint D, int isDirectionDependent)
	Computes the angle between lines AB and CD.
void ALVAR_EXPORT	BuildHideTexture (IplImage image, IplImage hide_texture, Camera *cam, double gl_modelview[16], PointDouble topleft, PointDouble botright)
	This function is used to construct a texture image which is needed to hide a marker from the original video frame. See SampleMarkerHide.cpp for example implementation.
void	CreateShadowPoint (CvPoint3D32f &p3d_sh, CvPoint3D32f p3d, CameraEC cam, Pose camera_pose, float parallax_length, float triangulate_angle)
int ALVAR_EXPORT	cross (CvPoint A, CvPoint B, CvPoint *C)
	Computes the cross product AB x AC.
template<class C >
double ALVAR_EXPORT	Deg2Rad (const C &v)
	Converts an angle from degrees to radians.
double	det (double r0, double r1, double r2, double r3)
template<class C >
int ALVAR_EXPORT	diff (const std::vector< C > &v, std::vector< C > &ret)
	Calculates the difference between the consecutive vector elements.
double ALVAR_EXPORT	distance (CvPoint A, CvPoint B)
	Compute the distance from A to B.
int ALVAR_EXPORT	dot (CvPoint A, CvPoint B, CvPoint *C)
	Computes dot product AB.BC.
template<class PointType >
void	DrawBB (IplImage *image, const std::vector< PointType > &points, CvScalar color, std::string label="")
	Draws the bounding box of a connected component (Blob).
void ALVAR_EXPORT	DrawCircles (IplImage image, const CvSeq contour, int radius, CvScalar color=CV_RGB(255, 0, 0))
	Draws circles to the contour points that are obtained by Labeling class.
void ALVAR_EXPORT	DrawCVEllipse (IplImage *image, CvBox2D &ellipse, CvScalar color, bool fill=false, double par=0)
	Draws OpenCV ellipse.
void ALVAR_EXPORT	DrawLine (IplImage *image, const Line line, CvScalar color=CV_RGB(0, 255, 0))
	Draws a line.
template<class PointType >
void	DrawLines (IplImage *image, const std::vector< PointType > &points, CvScalar color, bool loop=true)
	Draws lines between consecutive points stored in vector (polyline).
void ALVAR_EXPORT	DrawLines (IplImage image, const CvSeq contour, CvScalar color=CV_RGB(255, 0, 0))
	Draws lines between consecutive contour points.
void	DrawPoints (IplImage *image, const vector< CvPoint > &points, CvScalar color)
void ALVAR_EXPORT	DrawPoints (IplImage *image, const std::vector< CvPoint > &points, CvScalar color)
	Draws a set of points.
void ALVAR_EXPORT	DrawPoints (IplImage image, const CvSeq contour, CvScalar color=CV_RGB(255, 0, 0))
	Draws points of the contour that is obtained by Labeling class.
template<class PointType >
void	DrawPoints (IplImage *image, const std::vector< PointType > &points, CvScalar color, int radius=1)
	Draws circles to the array of points.
void ALVAR_EXPORT	DrawTexture (IplImage image, IplImage texture, Camera *cam, double gl_modelview[16], PointDouble topleft, PointDouble botright)
	Draws the texture generated by BuildHideTexture to given video frame. For better performance, use OpenGL instead. See SampleMarkerHide.cpp for example implementation.
template<typename T , typename F >
int	EraseItemsEC (std::map< int, T > &container, F do_erase_test)
	Erasing items from container using DoEraseTest type functor.
void ALVAR_EXPORT	errorAtLine (int status, int error, const char filename, unsigned int line, const char format,...)
	Error reporting function inspired by error_at_line() on Linux.
void	Est (CvMat state, CvMat estimation, void *param)
int	exp_filt2 (vector< double > &v, vector< double > &ret, bool clamp)
int ALVAR_EXPORT	exp_filt2 (std::vector< double > &v, std::vector< double > &ret, bool clamp)
int	find_zero_crossings (const vector< double > &v, vector< int > &corners, int offs)
int ALVAR_EXPORT	find_zero_crossings (const std::vector< double > &v, std::vector< int > &corners, int offs=20)
	Finds zero crossings of given vector elements (sequence).
void	FitCVEllipse (const vector< PointDouble > &points, CvBox2D &ellipse_box)
void ALVAR_EXPORT	FitCVEllipse (const std::vector< PointDouble > &points, CvBox2D &ellipse_box)
	Uses OpenCV routine to fit ellipse to a vector of points.
void	FitLineGray (CvMat line_data, float params[4], IplImage gray)
void	FitLines (vector< Line > &lines)
int	FitLines (vector< Line > &lines, const vector< int > &corners, const vector< PointInt > &edge, IplImage *grey)
int ALVAR_EXPORT	FitLines (std::vector< Line > &lines, const std::vector< int > &corners, const std::vector< PointInt > &edge, IplImage *grey=0)
	Fit lines to vector of points.
void	GetOrigo (Pose pose, CvMat O)
void	GetPointOnLine (const Pose pose, Camera camera, const CvPoint2D32f u, CvMat P)
double *	getRow (double *m, int row)
PointDouble ALVAR_EXPORT	Intersection (const Line &l1, const Line &l2)
	Calculates an intersection point of two lines.
double ALVAR_EXPORT	Limit (double val, double min_val, double max_val)
	Limits a number to between two values.
double ALVAR_EXPORT	linePointDist (CvPoint A, CvPoint B, CvPoint *C, bool isSegment)
	Computes the distance from point C to line (segment) AB.
int	MarkerIdToContainerId (int marker_id, int corner_id, int first_id=0, int last_id=65535)
	Calculate the index used in external container map for specified marker_id.
bool	MidPointAlgorithm (CvMat o1, CvMat o2, CvMat p1, CvMat p2, CvPoint3D32f &X, double limit)
Rotation	operator+ (const Rotation &r1, const Rotation &r2)
void ALVAR_EXPORT	out_matrix (const CvMat m, const char name)
	Output OpenCV matrix for debug purposes.
template<class PointType >
double	PointSquaredDistance (PointType p1, PointType p2)
	Returns the squared distance of two points.
float	PointVectorFromCamera (CvPoint3D32f p3d, CvPoint3D32f &p3d_vec, Pose *camera_pose)
double ALVAR_EXPORT	polyLinePointDist (CvPoint PointList, int nPnts, CvPoint C, int *index, int isClosedPolygon)
	Calculates minimum distance from Point C to Polygon whose points are in list PointList.
static void	Project (CvMat state, CvMat projection, void *x)
static void	ProjectRot (CvMat state, CvMat projection, void *x)
template<class C >
double ALVAR_EXPORT	Rad2Deg (const C &v)
	Converts an angle from radians to degrees.
int	round (double x)
template<class C >
int ALVAR_EXPORT	Sign (const C &v)
	Returns the sign of a number.
void ALVAR_EXPORT	sleep (unsigned long milliseconds)
	Sleep for a specified amount of milliseconds.
static DWORD WINAPI	startThread (void *parameters)
void	STRCPY (char to, size_t size, const char src)
Variables
static const char *	ALVAR_DATE = "2012-06-20"
	Date the library was built.
static const char *	ALVAR_SYSTEM = "Linux 3.2.0-24-generic x86_64"
	System the library was built on.
static const char *	ALVAR_VERSION = "2.0.0"
	Entire version string.
static const int	ALVAR_VERSION_MAJOR = 2
	Major version number.
static const int	ALVAR_VERSION_MINOR = 0
	Minor version number.
static const char *	ALVAR_VERSION_NODOTS = "200"
	Entire version string without dots.
static const int	ALVAR_VERSION_PATCH = 0
	Patch version number.
static const char *	ALVAR_VERSION_REVISION = ""
	Revision version string.
static const char *	ALVAR_VERSION_TAG = ""
	Tag version string.
struct alvar::AlvarLoader	alvarBasicLoader
Camera *	camera
CameraMoves	moving
int	n_images
int	n_markers
const double	PI = 3.14159265

Detailed Description

Main ALVAR namespace.

Typedef Documentation

typedef ALVAR_EXPORT Point<CvPoint2D64f> alvar::PointDouble

The default double point type.

Examples:: SampleMarkerHide.cpp.

Definition at line 107 of file Util.h.

typedef ALVAR_EXPORT Point<CvPoint> alvar::PointInt

The default integer point type.

Definition at line 102 of file Util.h.

Enumeration Type Documentation

enum alvar::FILE_FORMAT

File format enumeration used when reading / writing configuration files.

Enumerator:

FILE_FORMAT_DEFAULT	Default file format. Format is either OPENCV, TEXT or XML depending on load/store function used.
FILE_FORMAT_OPENCV	File format written with cvWrite. File contents depend on the specific load/store function used.
FILE_FORMAT_TEXT	Plain ASCII text file format. File contents depend on the specific load/store function used.
FILE_FORMAT_XML	XML file format. XML schema depends on the specific load/store function used.

Definition at line 39 of file FileFormat.h.

Function Documentation

template<class T >

T alvar::absdiff	(	T	c1,
		T	c2
	)		`[inline]`

Definition at line 310 of file ConnectedComponents.cpp.

void alvar::alvarInfo ( )

Definition at line 30 of file Alvar.cpp.

double alvar::angle	(	CvPoint *	A,
		CvPoint *	B,
		CvPoint *	C,
		CvPoint *	D,
		int	isDirectionDependent
	)

Computes the angle between lines AB and CD.

Parameters:

isDirectionDependent	If isDirectionDependent = 1, angle depends on the order of the points. Otherwise returns smaller angle.
A	start point of first line
B	end point of first line
C	start point of second line
D	end point of second line

Definition at line 72 of file Util.cpp.

void alvar::BuildHideTexture	(	IplImage *	image,
		IplImage *	hide_texture,
		Camera *	cam,
		double	gl_modelview[16],
		PointDouble	topleft,
		PointDouble	botright
	)

This function is used to construct a texture image which is needed to hide a marker from the original video frame. See SampleMarkerHide.cpp for example implementation.

Parameters:

image	Pointer to the original video frame from where the hiding texture is calculated.
hide_texture	Pointer to the destination image where the resulting texture is stored.
cam	Camera object that is used for marker tracking.
gl_modelview	Current model view matrix.
topleft	Top left limit of the texture area in marker coordinate frame.
botright	Bottom right limit of the texture area in marker coordinate frame.

Examples:: SampleMarkerHide.cpp.

Definition at line 95 of file Draw.cpp.

void alvar::CreateShadowPoint	(	CvPoint3D32f &	p3d_sh,
		CvPoint3D32f	p3d,
		CameraEC *	cam,
		Pose *	camera_pose,
		float	parallax_length,
		float	triangulate_angle
	)

Definition at line 123 of file SfM.cpp.

int alvar::cross	(	CvPoint *	A,
		CvPoint *	B,
		CvPoint *	C
	)

Computes the cross product AB x AC.

Parameters:

A,B	and C points defining lines (line segments) AB and AC

Definition at line 44 of file Util.cpp.

template<class C >

double ALVAR_EXPORT alvar::Deg2Rad ( const C & v ) [inline]

Converts an angle from degrees to radians.

Definition at line 71 of file Util.h.

double alvar::det	(	double *	r0,
		double *	r1,
		double *	r2,
		double *	r3
	)

Definition at line 64 of file TrifocalTensor.cpp.

template<class C >

int ALVAR_EXPORT alvar::diff	(	const std::vector< C > &	v,
		std::vector< C > &	ret
	)		`[inline]`

Calculates the difference between the consecutive vector elements.

Parameters:

v	Source elements.
ret	The difference vector. This is cleared and then resized.

Returns:: The number of elements.

Definition at line 191 of file Util.h.

double alvar::distance	(	CvPoint *	A,
		CvPoint *	B
	)

Compute the distance from A to B.

Parameters:

A	and B points

Definition at line 54 of file Util.cpp.

int alvar::dot	(	CvPoint *	A,
		CvPoint *	B,
		CvPoint *	C
	)

Computes dot product AB.BC.

Parameters:

A,B	and C points defining lines (line segments) AB and BC

Definition at line 34 of file Util.cpp.

template<class PointType >

void alvar::DrawBB	(	IplImage *	image,
		const std::vector< PointType > &	points,
		CvScalar	color,
		std::string	label = `""`
	)		`[inline]`

Draws the bounding box of a connected component (Blob).

Parameters:

image	Pointer to the destination image.
points	Vector of points that determine the bounding box.
color	Use CV_RGB(red,green,blue) to determine the color of the bounding box.
label	A label to show in the center of the bounding box.

Definition at line 49 of file Draw.h.

void alvar::DrawCircles	(	IplImage *	image,
		const CvSeq *	contour,
		int	radius,
		CvScalar	color = `CV_RGB(255,0,0)`
	)

Draws circles to the contour points that are obtained by Labeling class.

Parameters:

image	Pointer to the destination image.
contour	Controur sequence.
radius	Circle radius in pixels.
color	Use CV_RGB(red,green,blue) to determine the color.

Definition at line 60 of file Draw.cpp.

void alvar::DrawCVEllipse	(	IplImage *	image,
		CvBox2D &	ellipse,
		CvScalar	color,
		bool	fill = `false`,
		double	par = `0`
	)

Draws OpenCV ellipse.

Parameters:

image	Pointer to the destination image.
ellipse	Ellipse struct in OpenCV format.
color	Use CV_RGB(red,green,blue) to determine the color.
fill	If false, only the outline is drawn.
par	The ellipse width and height are grown by par pixels.

Definition at line 82 of file Draw.cpp.

void alvar::DrawLine	(	IplImage *	image,
		const Line	line,
		CvScalar	color = `CV_RGB(0,255,0)`
	)

Draws a line.

Parameters:

image	Pointer to the destination image.
line	Line struct to be drawn.
color	Use CV_RGB(red,green,blue) to determine the color.

Definition at line 38 of file Draw.cpp.

template<class PointType >

void alvar::DrawLines	(	IplImage *	image,
		const std::vector< PointType > &	points,
		CvScalar	color,
		bool	loop = `true`
	)		`[inline]`

Draws lines between consecutive points stored in vector (polyline).

Parameters:

image	Pointer to the destination image.
points	Vector of points that determine the polyline.
color	Use CV_RGB(red,green,blue) to determine the color.
loop	If true, the polyline is closed.

Definition at line 88 of file Draw.h.

void alvar::DrawLines	(	IplImage *	image,
		const CvSeq *	contour,
		CvScalar	color = `CV_RGB(255,0,0)`
	)

Draws lines between consecutive contour points.

Parameters:

image	Pointer to the destination image.
contour	Controur sequence.
color	Use CV_RGB(red,green,blue) to determine the color.

Definition at line 69 of file Draw.cpp.

void alvar::DrawPoints	(	IplImage *	image,
		const vector< CvPoint > &	points,
		CvScalar	color
	)

Definition at line 32 of file Draw.cpp.

void ALVAR_EXPORT alvar::DrawPoints	(	IplImage *	image,
		const std::vector< CvPoint > &	points,
		CvScalar	color
	)

Draws a set of points.

Parameters:

image	Pointer to the destination image.
points	Array of CvPoints to be visualzed.
color	Use CV_RGB(red,green,blue) to determine the color.

void alvar::DrawPoints	(	IplImage *	image,
		const CvSeq *	contour,
		CvScalar	color = `CV_RGB(255,0,0)`
	)

Draws points of the contour that is obtained by Labeling class.

Parameters:

image	Pointer to the destination image.
contour	Controur sequence.
color	Use CV_RGB(red,green,blue) to determine the color.

Definition at line 51 of file Draw.cpp.

template<class PointType >

void alvar::DrawPoints	(	IplImage *	image,
		const std::vector< PointType > &	points,
		CvScalar	color,
		int	radius = `1`
	)		`[inline]`

Draws circles to the array of points.

Parameters:

image	Pointer to the destination image.
points	Vector of points to be visualized.
color	Use CV_RGB(red,green,blue) to determine the color.
radius	Circle radius in pixels.

Definition at line 134 of file Draw.h.

void alvar::DrawTexture	(	IplImage *	image,
		IplImage *	texture,
		Camera *	cam,
		double	gl_modelview[16],
		PointDouble	topleft,
		PointDouble	botright
	)

Draws the texture generated by BuildHideTexture to given video frame. For better performance, use OpenGL instead. See SampleMarkerHide.cpp for example implementation.

Parameters:

image	Pointer to the destination image where the texture is drawn.
texure	Pointer to the texture image genereated by BuildHideTexture.
cam	Camera object that is used for marker tracking.
gl_modelview	Current model view matrix.
topleft	Top left limit of the texture area in marker coordinate frame.
botright	Bottom right limit of the texture area in marker coordinate frame.

Definition at line 213 of file Draw.cpp.

template<typename T , typename F >

int alvar::EraseItemsEC	(	std::map< int, T > &	container,
		F	do_erase_test
	)		`[inline]`

Erasing items from container using DoEraseTest type functor.

Definition at line 238 of file EC.h.

void alvar::errorAtLine	(	int	status,
		int	error,
		const char *	filename,
		unsigned int	line,
		const char *	format,
			...
	)

Error reporting function inspired by error_at_line() on Linux.

It flushes stdout and prints the filename, line number and printf compatible error message to stderr. If error is specified, it also prints the corresponding error message from strerror(). If status is not zero, it exits the process.

Definition at line 38 of file Platform.cpp.

void alvar::Est	(	CvMat *	state,
		CvMat *	estimation,
		void *	param
	)

Definition at line 54 of file MultiMarkerBundle.cpp.

int alvar::exp_filt2	(	vector< double > &	v,
		vector< double > &	ret,
		bool	clamp
	)

Definition at line 130 of file Util.cpp.

int ALVAR_EXPORT alvar::exp_filt2	(	std::vector< double > &	v,
		std::vector< double > &	ret,
		bool	clamp
	)

int alvar::find_zero_crossings	(	const vector< double > &	v,
		vector< int > &	corners,
		int	offs
	)

Definition at line 178 of file Util.cpp.

int ALVAR_EXPORT alvar::find_zero_crossings	(	const std::vector< double > &	v,
		std::vector< int > &	corners,
		int	offs = `20`
	)

Finds zero crossings of given vector elements (sequence).

Parameters:

v	Sequence of numbers from where the zero crossings are found.
corners	Resulting index list of zero crossings.
offs

Returns:: Number of zero crossings found.

void alvar::FitCVEllipse	(	const vector< PointDouble > &	points,
		CvBox2D &	ellipse_box
	)

Definition at line 117 of file Util.cpp.

void ALVAR_EXPORT alvar::FitCVEllipse	(	const std::vector< PointDouble > &	points,
		CvBox2D &	ellipse_box
	)

Uses OpenCV routine to fit ellipse to a vector of points.

Parameters:

points	Vector of points on the ellipse edge.
ellipse_box	OpenCV struct for the fitted ellipse.

void alvar::FitLineGray	(	CvMat *	line_data,
		float	params[4],
		IplImage *	gray
	)

Definition at line 320 of file ConnectedComponents.cpp.

void alvar::FitLines ( vector< Line > & lines )

Definition at line 39 of file Line.cpp.

int alvar::FitLines	(	vector< Line > &	lines,
		const vector< int > &	corners,
		const vector< PointInt > &	edge,
		IplImage *	grey
	)

Definition at line 44 of file Line.cpp.

int ALVAR_EXPORT alvar::FitLines	(	std::vector< Line > &	lines,
		const std::vector< int > &	corners,
		const std::vector< PointInt > &	edge,
		IplImage *	grey = `0`
	)

Fit lines to vector of points.

Parameters:

lines	Resulting set of lines.
corners	Index list of line breaks.
edge	Vector of points (pixels) where the line is fitted.
grey	In the future, we may want to fit lines directly to grayscale image instead of thresholded edge.

void alvar::GetOrigo	(	Pose *	pose,
		CvMat *	O
	)

Definition at line 129 of file EC.cpp.

void alvar::GetPointOnLine	(	const Pose *	pose,
		Camera *	camera,
		const CvPoint2D32f *	u,
		CvMat *	P
	)

Definition at line 134 of file EC.cpp.

double* alvar::getRow	(	double *	m,
		int	row
	)

Definition at line 60 of file TrifocalTensor.cpp.

PointDouble alvar::Intersection	(	const Line &	l1,
		const Line &	l2
	)

Calculates an intersection point of two lines.

Parameters:

l1	First line.
l2	Second line.

Returns:: Intersection point.

Definition at line 98 of file Line.cpp.

double alvar::Limit	(	double	val,
		double	min_val,
		double	max_val
	)

Limits a number to between two values.

Parameters:

val	Input value.
min_val	Minimum value for the result.
max_val	Maximum value for the result.

Returns:: Resulting value that is between min_val and max_val.

Definition at line 241 of file Util.cpp.

double alvar::linePointDist	(	CvPoint *	A,
		CvPoint *	B,
		CvPoint *	C,
		bool	isSegment
	)

Computes the distance from point C to line (segment) AB.

Parameters:

isSegment	If isSegment is true, AB is a segment, not a line.
C	point
A	abd B points defining line (segment) AB

Definition at line 61 of file Util.cpp.

int alvar::MarkerIdToContainerId	(	int	marker_id,
		int	corner_id,
		int	first_id = `0`,
		int	last_id = `65535`
	)		`[inline]`

Calculate the index used in external container map for specified marker_id.

Definition at line 648 of file EC.h.

bool alvar::MidPointAlgorithm	(	CvMat *	o1,
		CvMat *	o2,
		CvMat *	p1,
		CvMat *	p2,
		CvPoint3D32f &	X,
		double	limit
	)

Definition at line 148 of file EC.cpp.

Rotation alvar::operator+	(	const Rotation &	r1,
		const Rotation &	r2
	)		`[inline]`

Definition at line 377 of file Rotation.cpp.

void alvar::out_matrix	(	const CvMat *	m,
		const char *	name
	)

Output OpenCV matrix for debug purposes.

Definition at line 216 of file Util.cpp.

template<class PointType >

double alvar::PointSquaredDistance	(	PointType	p1,
		PointType	p2
	)

Returns the squared distance of two points.

Parameters:

p1	First point.
p2	Second point.

Returns:: Squared distance.

Definition at line 115 of file Util.h.

float alvar::PointVectorFromCamera	(	CvPoint3D32f	p3d,
		CvPoint3D32f &	p3d_vec,
		Pose *	camera_pose
	)

Definition at line 102 of file SfM.cpp.

double alvar::polyLinePointDist	(	CvPoint *	PointList,
		int	nPnts,
		CvPoint *	C,
		int *	index,
		int	isClosedPolygon
	)

Calculates minimum distance from Point C to Polygon whose points are in list PointList.

Returns distance

Parameters:

index	index of point A in pointlist, where A is the starting point of the closest polygon segment
isClosedPolygon	is true if polygon is closed (segment of the first and last point is also checked)

Definition at line 89 of file Util.cpp.

static void alvar::Project	(	CvMat *	state,
		CvMat *	projection,
		void *	x
	)		`[static]`

Definition at line 50 of file EC.cpp.

static void alvar::ProjectRot	(	CvMat *	state,
		CvMat *	projection,
		void *	x
	)		`[static]`

Definition at line 35 of file EC.cpp.

template<class C >

double ALVAR_EXPORT alvar::Rad2Deg ( const C & v ) [inline]

Converts an angle from radians to degrees.

Definition at line 62 of file Util.h.

int alvar::round ( double x ) [inline]

Definition at line 305 of file ConnectedComponents.cpp.

template<class C >

int ALVAR_EXPORT alvar::Sign ( const C & v ) [inline]

Returns the sign of a number.

Definition at line 53 of file Util.h.

void alvar::sleep ( unsigned long milliseconds )

Sleep for a specified amount of milliseconds.

Definition at line 61 of file Platform.cpp.

static DWORD WINAPI alvar::startThread ( void * parameters ) [static]

Definition at line 37 of file Threads_win.cpp.

void alvar::STRCPY	(	char *	to,
		size_t	size,
		const char *	src
	)		`[inline]`

Definition at line 297 of file Util.h.

Variable Documentation

const char* alvar::ALVAR_DATE = "2012-06-20" [static]

Date the library was built.

Definition at line 218 of file Alvar.h.

const char* alvar::ALVAR_SYSTEM = "Linux 3.2.0-24-generic x86_64" [static]

System the library was built on.

Definition at line 223 of file Alvar.h.

const char* alvar::ALVAR_VERSION = "2.0.0" [static]

Entire version string.

Definition at line 208 of file Alvar.h.

const int alvar::ALVAR_VERSION_MAJOR = 2 [static]

Major version number.

Definition at line 179 of file Alvar.h.

const int alvar::ALVAR_VERSION_MINOR = 0 [static]

Minor version number.

Definition at line 184 of file Alvar.h.

const char* alvar::ALVAR_VERSION_NODOTS = "200" [static]

Entire version string without dots.

Definition at line 213 of file Alvar.h.

const int alvar::ALVAR_VERSION_PATCH = 0 [static]

Patch version number.

Definition at line 189 of file Alvar.h.

const char* alvar::ALVAR_VERSION_REVISION = "" [static]

Revision version string.

The revision contains an identifier from the source control system.

Definition at line 203 of file Alvar.h.

const char* alvar::ALVAR_VERSION_TAG = "" [static]

Tag version string.

The tag contains alpha, beta and release candidate versions.

Definition at line 196 of file Alvar.h.

struct alvar::AlvarLoader alvar::alvarBasicLoader

Camera* alvar::camera

Definition at line 52 of file MultiMarkerBundle.cpp.

CameraMoves alvar::moving

Definition at line 64 of file SfM.cpp.

int alvar::n_images

Definition at line 50 of file MultiMarkerBundle.cpp.

int alvar::n_markers

Definition at line 51 of file MultiMarkerBundle.cpp.

const double alvar::PI = 3.14159265

Definition at line 47 of file Util.h.

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