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...

#include <MultiMarkerFiltered.h>

Inheritance diagram for alvar::MultiMarkerFiltered:

[legend]

Public Member Functions
void	MeasurementsReset ()
	Reset the measurements. More...

	MultiMarkerFiltered (std::vector< int > &indices)
	Constructor. More...

void	PointCloudAverage (int marker_id, double edge_length, Pose &pose)
	Updates the 3D point cloud by averaging the calculated results. More...

template<class M >
double	Update (const std::vector< M > markers, Camera cam, Pose &pose, IplImage *image=0)
	Updates the marker field and camera pose. More...

	~MultiMarkerFiltered ()
	Destructor. More...

Public Member Functions inherited from alvar::MultiMarker
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. More...

bool	IsValidMarker (int marker_id)
	Returns true if the marker is in the point cloud. More...

bool	Load (const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Loads multi marker configuration from a text file. More...

	MultiMarker (std::vector< int > &indices)
	Constructor. More...

	MultiMarker ()
	Default constructor. More...

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. More...

void	PointCloudCopy (const MultiMarker *m)
	Copies the 3D point cloud from other multi marker object. More...

void	PointCloudCorners3d (double edge_length, Pose &pose, CvPoint3D64f corners[4])
	Calculates 3D coordinates of marker corners relative to given pose (camera). More...

void	PointCloudGet (int marker_id, int point, double &x, double &y, double &z)
	Returns 3D co-ordinates of one corner point of a marker. More...

bool	PointCloudIsEmpty ()
	Returns true if the are not points in the 3D opint cloud. More...

void	PointCloudReset ()
	Reserts the 3D point cloud of the markers. More...

virtual void	Reset ()
	Resets the multi marker. More...

bool	Save (const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Saves multi marker configuration to a text file. More...

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. More...

size_t	Size ()
	Return the number of markers added using PointCloudAdd. More...

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. More...

Protected Member Functions
double	_Update (MarkerIterator &begin, MarkerIterator &end, Camera cam, Pose &pose, IplImage image)

Protected Attributes
FilterMedian *	pointcloud_filtered

Static Protected Attributes
static const int	filter_buffer_max =15

Additional Inherited Members
Public Attributes inherited from alvar::MultiMarker
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

Detailed Description

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.

This can be used to initialize the marker field for MultiMarkerBundle class.

Definition at line 45 of file MultiMarkerFiltered.h.

Constructor & Destructor Documentation

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

Constructor.

Parameters

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

Definition at line 31 of file MultiMarkerFiltered.cpp.

alvar::MultiMarkerFiltered::~MultiMarkerFiltered ( )

Destructor.

Definition at line 40 of file MultiMarkerFiltered.cpp.

Member Function Documentation

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

protected

Definition at line 68 of file MultiMarkerFiltered.cpp.

void alvar::MultiMarkerFiltered::MeasurementsReset ( )

inline

Reset the measurements.

Definition at line 89 of file MultiMarkerFiltered.h.

void alvar::MultiMarkerFiltered::PointCloudAverage	(	int	marker_id,
		double	edge_length,
		Pose &	pose
	)

Updates the 3D point cloud by averaging the calculated results.

Parameters

marker_id	The id of the marker whose corner positions are updated.
edge_length	The edge length of the marker.
pose	Current camera pose that is used to estimate the marker position.

Definition at line 45 of file MultiMarkerFiltered.cpp.

template<class M >

double alvar::MultiMarkerFiltered::Update	(	const std::vector< M > *	markers,
		Camera *	cam,
		Pose &	pose,
		IplImage *	image = `0`
	)

inline

Updates the marker field and camera pose.

Parameters

markers	Markers seen by the camera.
camera	Camera object used to detect markers.
pose	Current camera pose. This is also updated.
image	If != 0 some visualization will be drawn.

Definition at line 77 of file MultiMarkerFiltered.h.

Member Data Documentation

const int alvar::MultiMarkerFiltered::filter_buffer_max =15

staticprotected

Definition at line 48 of file MultiMarkerFiltered.h.

FilterMedian* alvar::MultiMarkerFiltered::pointcloud_filtered

protected

Definition at line 49 of file MultiMarkerFiltered.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation