Base class for using MultiMarker. More...

#include <MultiMarker.h>

Inheritance diagram for alvar::MultiMarker:

Public Member Functions
double	_GetPose (MarkerIterator &begin, MarkerIterator &end, Camera cam, Pose &pose, IplImage image)
int	_SetTrackMarkers (MarkerDetectorImpl &marker_detector, Camera cam, Pose &pose, IplImage image)
int	get_id_index (int id, bool add_if_missing=false)
std::vector< int >	getIndices ()
int	getMasterId ()
template<class M >
double	GetPose (const std::vector< M, Eigen::aligned_allocator< M > > markers, Camera cam, Pose &pose, IplImage *image=0)
	Calculates the pose of the camera from multi marker. Method uses the true 3D coordinates of markers to get the initial pose and then optimizes it by minimizing the reprojection error.
bool	IsValidMarker (int marker_id)
	Returns true if the marker is in the point cloud.
bool	Load (const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Loads multi marker configuration from a text file.
	MultiMarker (std::vector< int > &indices)
	Constructor.
	MultiMarker ()
	Default constructor.
int	pointcloud_index (int marker_id, int marker_corner, bool add_if_missing=false)
void	PointCloudAdd (int marker_id, double edge_length, Pose &pose)
	Adds marker corners to 3D point cloud of multi marker.
void	PointCloudCopy (const MultiMarker *m)
	Copies the 3D point cloud from other multi marker object.
void	PointCloudCorners3d (double edge_length, Pose &pose, CvPoint3D64f corners[4])
	Calculates 3D coordinates of marker corners relative to given pose (camera).
void	PointCloudGet (int marker_id, int point, double &x, double &y, double &z)
	Returns 3D co-ordinates of one corner point of a marker.
bool	PointCloudIsEmpty ()
	Returns true if the are not points in the 3D opint cloud.
void	PointCloudReset ()
	Reserts the 3D point cloud of the markers.
virtual void	Reset ()
	Resets the multi marker.
bool	Save (const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Saves multi marker configuration to a text file.
template<class M >
int	SetTrackMarkers (MarkerDetector< M > &marker_detector, Camera cam, Pose &pose, IplImage image=0)
	Set new markers to be tracked for MarkerDetector Sometimes the MultiMarker implementation knows more about marker locations compared to MarkerDetector . Then this method can be used to reset the internal state of MarkerDetector for tracking also these markers.
size_t	Size ()
	Return the number of markers added using PointCloudAdd.
template<class M >
double	Update (const std::vector< M, Eigen::aligned_allocator< M > > markers, Camera cam, Pose &pose, IplImage *image=0)
	Calls GetPose to obtain camera pose.
Public Attributes
std::vector< int >	marker_indices
std::vector< int >	marker_status
int	master_id
std::map< int, CvPoint3D64f >	pointcloud
std::vector< std::vector < tf::Vector3 > >	rel_corners
Private Member Functions
bool	LoadText (const char *fname)
bool	LoadXML (const char *fname)
bool	SaveText (const char *fname)
bool	SaveXML (const char *fname)

Detailed Description

Base class for using MultiMarker.

Examples:: SampleMarkerCreator.cpp, and SampleMultiMarker.cpp.

Definition at line 47 of file MultiMarker.h.

Constructor & Destructor Documentation

alvar::MultiMarker::MultiMarker ( std::vector< int > & indices )

Constructor.

Parameters:

indices Vector of marker codes that are included into multi marker. The first element defines origin.

alvar::MultiMarker::MultiMarker ( ) [inline]

Default constructor.

Definition at line 98 of file MultiMarker.h.

Member Function Documentation

double alvar::MultiMarker::_GetPose	(	MarkerIterator &	begin,
		MarkerIterator &	end,
		Camera *	cam,
		Pose &	pose,
		IplImage *	image
	)

Definition at line 296 of file MultiMarker.cpp.

int alvar::MultiMarker::_SetTrackMarkers	(	MarkerDetectorImpl &	marker_detector,
		Camera *	cam,
		Pose &	pose,
		IplImage *	image
	)

Definition at line 339 of file MultiMarker.cpp.

int alvar::MultiMarker::get_id_index	(	int	id,
		bool	add_if_missing = `false`
	)

Definition at line 38 of file MultiMarker.cpp.

std::vector<int> alvar::MultiMarker::getIndices ( ) [inline]

Definition at line 176 of file MultiMarker.h.

int alvar::MultiMarker::getMasterId ( ) [inline]

Definition at line 180 of file MultiMarker.h.

template<class M >

double alvar::MultiMarker::GetPose	(	const std::vector< M, Eigen::aligned_allocator< M > > *	markers,
		Camera *	cam,
		Pose &	pose,
		IplImage *	image = `0`
	)		`[inline]`

Calculates the pose of the camera from multi marker. Method uses the true 3D coordinates of markers to get the initial pose and then optimizes it by minimizing the reprojection error.

Parameters:

markers	Vector of markers seen by camera.
cam	Camera object containing internal calibration etc.
pose	The resulting pose is stored here.
image	If != 0 some visualizations are drawn.

Definition at line 109 of file MultiMarker.h.

bool alvar::MultiMarker::IsValidMarker ( int marker_id )

Returns true if the marker is in the point cloud.

Parameters:

marker_id ID of the marker.

Definition at line 290 of file MultiMarker.cpp.

bool alvar::MultiMarker::Load	(	const char *	fname,
		FILE_FORMAT	format = `FILE_FORMAT_DEFAULT`
	)

Loads multi marker configuration from a text file.

Parameters:

fname	file name
format	FILE_FORMAT_TEXT (default) or FILE_FORMAT_XML (see doc/MultiMarker.xsd).

Examples:: SampleMultiMarker.cpp, and SampleMultiMarkerBundle.cpp.

Definition at line 205 of file MultiMarker.cpp.

bool alvar::MultiMarker::LoadText ( const char * fname ) [private]

Definition at line 168 of file MultiMarker.cpp.

bool alvar::MultiMarker::LoadXML ( const char * fname ) [private]

Definition at line 127 of file MultiMarker.cpp.

int alvar::MultiMarker::pointcloud_index	(	int	marker_id,
		int	marker_corner,
		bool	add_if_missing = `false`
	)

Definition at line 34 of file MultiMarker.cpp.

void alvar::MultiMarker::PointCloudAdd	(	int	marker_id,
		double	edge_length,
		Pose &	pose
	)

Adds marker corners to 3D point cloud of multi marker.

Parameters:

marker_id	Id of the marker to be added.
edge_length	Edge length of the marker.
pose	Current camera pose.

Examples:: SampleMarkerCreator.cpp, SampleMultiMarker.cpp, and SampleMultiMarkerBundle.cpp.

Definition at line 264 of file MultiMarker.cpp.

void alvar::MultiMarker::PointCloudCopy ( const MultiMarker * m )

Copies the 3D point cloud from other multi marker object.

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 273 of file MultiMarker.cpp.

void alvar::MultiMarker::PointCloudCorners3d	(	double	edge_length,
		Pose &	pose,
		CvPoint3D64f	corners[4]
	)

Calculates 3D coordinates of marker corners relative to given pose (camera).

Parameters:

edge_length	The edge length of the marker.
pose	Current pose of the camera.
corners	Resulted 3D corner points are stored here.

Definition at line 229 of file MultiMarker.cpp.

void alvar::MultiMarker::PointCloudGet	(	int	marker_id,
		int	point,
		double &	x,
		double &	y,
		double &	z
	)

Returns 3D co-ordinates of one corner point of a marker.

Parameters:

marker_id	ID of the marker which corner point is returned.
point	Number of the corner point to return, from 0 to 3.
x	x co-ordinate is returned.
y	y co-ordinate is returned.
z	z co-ordinate is returned.

Definition at line 282 of file MultiMarker.cpp.

bool alvar::MultiMarker::PointCloudIsEmpty ( ) [inline]

Returns true if the are not points in the 3D opint cloud.

Definition at line 152 of file MultiMarker.h.

void alvar::MultiMarker::PointCloudReset ( )

Reserts the 3D point cloud of the markers.

Definition at line 225 of file MultiMarker.cpp.

void alvar::MultiMarker::Reset ( ) [virtual]

Resets the multi marker.

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 50 of file MultiMarker.cpp.

bool alvar::MultiMarker::Save	(	const char *	fname,
		FILE_FORMAT	format = `FILE_FORMAT_DEFAULT`
	)

Saves multi marker configuration to a text file.

Parameters:

fname	file name
format	FILE_FORMAT_TEXT (default) or FILE_FORMAT_XML (see doc/MultiMarker.xsd).

Examples:: SampleMarkerCreator.cpp, and SampleMultiMarkerBundle.cpp.

Definition at line 115 of file MultiMarker.cpp.

bool alvar::MultiMarker::SaveText ( const char * fname ) [private]

Definition at line 84 of file MultiMarker.cpp.

bool alvar::MultiMarker::SaveXML ( const char * fname ) [private]

Definition at line 56 of file MultiMarker.cpp.

template<class M >

int alvar::MultiMarker::SetTrackMarkers	(	MarkerDetector< M > &	marker_detector,
		Camera *	cam,
		Pose &	pose,
		IplImage *	image = `0`
	)		`[inline]`

Set new markers to be tracked for MarkerDetector Sometimes the MultiMarker implementation knows more about marker locations compared to MarkerDetector . Then this method can be used to reset the internal state of MarkerDetector for tracking also these markers.

Examples:: SampleMultiMarker.cpp, and SampleMultiMarkerBundle.cpp.

Definition at line 191 of file MultiMarker.h.

size_t alvar::MultiMarker::Size ( ) [inline]

Return the number of markers added using PointCloudAdd.

Examples:: SampleMarkerCreator.cpp.

Definition at line 157 of file MultiMarker.h.

template<class M >

double alvar::MultiMarker::Update	(	const std::vector< M, Eigen::aligned_allocator< M > > *	markers,
		Camera *	cam,
		Pose &	pose,
		IplImage *	image = `0`
	)		`[inline]`