Basic 2D Marker functionality. More...

#include <Marker.h>

Inheritance diagram for alvar::Marker:

Public Member Functions
void	CompareContent (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, IplImage gray, Camera cam, int *orientation) const
	Compares the marker corners with the previous match. More...

void	CompareCorners (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, int orientation, double error)
	Compares the marker corners with the previous match. More...

virtual bool	DecodeContent (int *orientation)
	Decodes the marker content. Please call UpdateContent before this. This virtual method is meant to be implemented by heirs. More...

CvMat *	GetContent () const
	Returns the content as a matrix. More...

double	GetError (int errors=(MARGIN_ERROR\|DECODE_ERROR)) const
	Get marker detection error estimate. More...

virtual unsigned long	GetId () const
	Get id for this marker This is used e.g. in MarkerDetector to associate a marker id with an appropriate edge length. This method should be overwritten to return a suitable identification number for each marker type. More...

double	GetMargin () const

double	GetMarkerEdgeLength () const
	Get edge length (to support different size markers. More...

int	GetRes () const

	Marker (double _edge_length=0, int _res=0, double _margin=0)
	Default constructor. More...

	Marker (const Marker &m)
	Copy constructor. More...

void	SaveMarkerImage (const char *filename, int save_res=0) const
	Saves the marker as an image. More...

void	ScaleMarkerToImage (IplImage *image) const
	Draw the marker filling the ROI in the given image. More...

void	SetError (int error_type, double value)
	Set the marker error estimate. More...

virtual void	SetId (unsigned long _id)

void	SetMarkerSize (double _edge_length=0, int _res=0, double _margin=0)
	Method for resizing the marker dimensions. More...

virtual bool	UpdateContent (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, IplImage gray, Camera cam, int frame_no=0)
	Updates the marker_content from the image using Homography. More...

void	UpdatePose (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, Camera *cam, int orientation, int frame_no=0, bool update_pose=true)
	Updates the markers pose estimation. More...

void	Visualize (IplImage image, Camera cam, CvScalar color=CV_RGB(255, 0, 0)) const
	Visualize the marker. More...

	~Marker ()
	Destructor. More...

Public Attributes
std::vector< PointDouble >	marker_corners
	Marker corners in marker coordinates. More...

std::vector< PointDouble >	marker_corners_img
	Marker corners in image coordinates. More...

std::vector< PointDouble >	marker_margin_b
	Samples to be used in figuring out min/max for thresholding. More...

std::vector< PointDouble >	marker_margin_w
	Samples to be used in figuring out min/max for thresholding. More...

std::vector< PointDouble >	marker_points
	Marker color points in marker coordinates. More...

Pose	pose
	The current marker Pose. More...

ar_track_alvar::ARCloud	ros_corners_3D

std::vector< PointDouble >	ros_marker_points_img
	Marker points in image coordinates. More...

int	ros_orientation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	valid

Static Public Attributes
static const int	DECODE_ERROR =2

static const int	MARGIN_ERROR =1

static const int	TRACK_ERROR =4

Protected Member Functions
bool	UpdateContentBasic (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, IplImage gray, Camera cam, int frame_no=0)

virtual void	VisualizeMarkerContent (IplImage image, Camera cam, double datatext_point[2], double content_point[2]) const

virtual void	VisualizeMarkerError (IplImage image, Camera cam, double errortext_point[2]) const

void	VisualizeMarkerPose (IplImage image, Camera cam, double visualize2d_points[12][2], CvScalar color=CV_RGB(255, 0, 0)) const

Protected Attributes
double	decode_error

double	edge_length

double	margin

double	margin_error

CvMat *	marker_content

int	res

double	track_error

Detailed Description

Basic 2D Marker functionality.

This class contains the basic Marker functionality for planar markers.

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

Definition at line 52 of file Marker.h.

Constructor & Destructor Documentation

alvar::Marker::~Marker ( )

Destructor.

Definition at line 515 of file Marker.cpp.

alvar::Marker::Marker	(	double	_edge_length = `0`,
		int	_res = `0`,
		double	_margin = `0`
	)

Default constructor.

Parameters

_edge_length	Length of the marker's edge in whatever units you are using (e.g. cm)
_res	The marker content resolution in pixels (this is actually
_margin	The marker margin resolution in pixels (The actual captured marker image has pixel resolution of _margin+_res+_margin)

Definition at line 518 of file Marker.cpp.

alvar::Marker::Marker ( const Marker & m )

Copy constructor.

Definition at line 529 of file Marker.cpp.

Member Function Documentation

void alvar::Marker::CompareContent	(	std::vector< Point< CvPoint2D64f > > &	_marker_corners_img,
		IplImage *	gray,
		Camera *	cam,
		int *	orientation
	)		const

Compares the marker corners with the previous match.

Definition at line 178 of file Marker.cpp.

void alvar::Marker::CompareCorners	(	std::vector< Point< CvPoint2D64f > > &	_marker_corners_img,
		int *	orientation,
		double *	error
	)

Compares the marker corners with the previous match.

In some cases the tracking of the marker can be accepted solely based on this. Returns the marker orientation and an error value describing the pixel error relative to the marker diameter.

Definition at line 163 of file Marker.cpp.

bool alvar::Marker::DecodeContent ( int * orientation )

virtual

Decodes the marker content. Please call UpdateContent before this. This virtual method is meant to be implemented by heirs.

Reimplemented in alvar::MarkerData, and alvar::MarkerArtoolkit.

Definition at line 316 of file Marker.cpp.

CvMat* alvar::Marker::GetContent ( ) const

inline

Returns the content as a matrix.

Definition at line 87 of file Marker.h.

double alvar::Marker::GetError ( int errors = (MARGIN_ERROR | DECODE_ERROR) ) const

inline

Get marker detection error estimate.

Parameters

errors Flags indicating what error elements are combined The marker detection error can consist of several elements: MARGIN_ERROR is updated in UpdateContent and it indicates erroneous values inside the marginal area. DECODE_ERROR is updated in DecodeContent and it indicates erroneous values inside the actual marker content area. TRACK_ERROR is updated in MarkerDetector.Detect and it indicates the amount of tracking error returned from CompareCorners

Definition at line 144 of file Marker.h.

virtual unsigned long alvar::Marker::GetId ( ) const

inlinevirtual

Get id for this marker This is used e.g. in MarkerDetector to associate a marker id with an appropriate edge length. This method should be overwritten to return a suitable identification number for each marker type.

Reimplemented in alvar::MarkerData, alvar::MarkerArtoolkit, and alvar::MultiMarkerInitializer::MarkerMeasurement.

Definition at line 118 of file Marker.h.

double alvar::Marker::GetMargin ( ) const

inline

Returns the margin thickness, that is, the number of rows or columns of black squares surrounding the content area.

Definition at line 132 of file Marker.h.

double alvar::Marker::GetMarkerEdgeLength ( ) const

inline

Get edge length (to support different size markers.

Definition at line 102 of file Marker.h.

int alvar::Marker::GetRes ( ) const

inline

Returns the resolution (the number of square rows and columns) of the marker content area. The total number of content squares within the content area is resolution*resolution.

Definition at line 126 of file Marker.h.

void alvar::Marker::SaveMarkerImage	(	const char *	filename,
		int	save_res = `0`
	)		const

Saves the marker as an image.

Definition at line 322 of file Marker.cpp.

void alvar::Marker::ScaleMarkerToImage ( IplImage * image ) const

Draw the marker filling the ROI in the given image.

Examples:: SampleMarkerCreator.cpp.

Definition at line 342 of file Marker.cpp.

void alvar::Marker::SetError	(	int	error_type,
		double	value
	)

inline

Set the marker error estimate.

Definition at line 153 of file Marker.h.

virtual void alvar::Marker::SetId ( unsigned long _id )

inlinevirtual

Reimplemented in alvar::MarkerData, alvar::MarkerArtoolkit, and alvar::MultiMarkerInitializer::MarkerMeasurement.

Definition at line 119 of file Marker.h.

void alvar::Marker::SetMarkerSize	(	double	_edge_length = `0`,
		int	_res = `0`,
		double	_margin = `0`
	)

Method for resizing the marker dimensions.

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

Definition at line 356 of file Marker.cpp.

bool alvar::Marker::UpdateContent	(	std::vector< Point< CvPoint2D64f > > &	_marker_corners_img,
		IplImage *	gray,
		Camera *	cam,
		int	frame_no = `0`
	)

virtual

Updates the marker_content from the image using Homography.

Reimplemented in alvar::MarkerData.

Definition at line 184 of file Marker.cpp.

bool alvar::Marker::UpdateContentBasic	(	std::vector< Point< CvPoint2D64f > > &	_marker_corners_img,
		IplImage *	gray,
		Camera *	cam,
		int	frame_no = `0`
	)

protected

Definition at line 188 of file Marker.cpp.

void alvar::Marker::UpdatePose	(	std::vector< Point< CvPoint2D64f > > &	_marker_corners_img,
		Camera *	cam,
		int	orientation,
		int	frame_no = `0`,
		bool	update_pose = `true`
	)

Updates the markers pose estimation.

Definition at line 306 of file Marker.cpp.

void alvar::Marker::Visualize	(	IplImage *	image,
		Camera *	cam,
		CvScalar	color = `CV_RGB(255,0,0)`
	)		const

Visualize the marker.

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

Definition at line 134 of file Marker.cpp.

void alvar::Marker::VisualizeMarkerContent	(	IplImage *	image,
		Camera *	cam,
		double	datatext_point[2],
		double	content_point[2]
	)		const

protectedvirtual

Reimplemented in alvar::MarkerData.

Definition at line 52 of file Marker.cpp.

void alvar::Marker::VisualizeMarkerError	(	IplImage *	image,
		Camera *	cam,
		double	errortext_point[2]
	)		const

protectedvirtual

Definition at line 91 of file Marker.cpp.

void alvar::Marker::VisualizeMarkerPose	(	IplImage *	image,
		Camera *	cam,
		double	visualize2d_points[12][2],
		CvScalar	color = `CV_RGB(255,0,0)`
	)		const

protected

Definition at line 39 of file Marker.cpp.

Member Data Documentation

const int alvar::Marker::DECODE_ERROR =2

static

Definition at line 159 of file Marker.h.

double alvar::Marker::decode_error

protected

Definition at line 163 of file Marker.h.

double alvar::Marker::edge_length

protected

Definition at line 165 of file Marker.h.

double alvar::Marker::margin

protected

Definition at line 167 of file Marker.h.

const int alvar::Marker::MARGIN_ERROR =1

static

Definition at line 158 of file Marker.h.

double alvar::Marker::margin_error

protected

Definition at line 162 of file Marker.h.

CvMat* alvar::Marker::marker_content

protected

Definition at line 168 of file Marker.h.

std::vector<PointDouble> alvar::Marker::marker_corners

Marker corners in marker coordinates.

Definition at line 175 of file Marker.h.

std::vector<PointDouble> alvar::Marker::marker_corners_img

Marker corners in image coordinates.

Definition at line 177 of file Marker.h.

std::vector<PointDouble> alvar::Marker::marker_margin_b

Samples to be used in figuring out min/max for thresholding.

Definition at line 185 of file Marker.h.

std::vector<PointDouble> alvar::Marker::marker_margin_w

Samples to be used in figuring out min/max for thresholding.

Definition at line 183 of file Marker.h.

std::vector<PointDouble> alvar::Marker::marker_points

Marker color points in marker coordinates.

Definition at line 173 of file Marker.h.

Pose alvar::Marker::pose

The current marker Pose.

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

Definition at line 136 of file Marker.h.

int alvar::Marker::res

protected

Definition at line 166 of file Marker.h.

ar_track_alvar::ARCloud alvar::Marker::ros_corners_3D

Definition at line 180 of file Marker.h.

std::vector<PointDouble> alvar::Marker::ros_marker_points_img

Marker points in image coordinates.

Definition at line 179 of file Marker.h.

int alvar::Marker::ros_orientation

Definition at line 181 of file Marker.h.

const int alvar::Marker::TRACK_ERROR =4

static

Definition at line 160 of file Marker.h.

double alvar::Marker::track_error

protected

Definition at line 164 of file Marker.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool alvar::Marker::valid

Definition at line 62 of file Marker.h.

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

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation