Templateless version of MarkerDetector. Please use MarkerDetector instead. More...

#include <MarkerDetector.h>

Inheritance diagram for alvar::MarkerDetectorImpl:

[legend]

Public Member Functions
int	Detect (IplImage image, Camera cam, bool track=false, bool visualize=false, double max_new_marker_error=0.08, double max_track_error=0.2, LabelingMethod labeling_method=CVSEQ, bool update_pose=true)
	Detect Marker 's from image More...

int	DetectAdditional (IplImage image, Camera cam, bool visualize=false, double max_track_error=0.2)

void	SetMarkerSize (double _edge_length=1, int _res=5, double _margin=2)

void	SetMarkerSizeForId (unsigned long id, double _edge_length=1)

void	SetOptions (bool _detect_pose_grayscale=false)

void	TrackMarkerAdd (int id, PointDouble corners[4])
	Add markers to be tracked Sometimes application or e.g. the MultiMarker implementation knows more about marker locations. Then this method can be used after Detect to indicate where additional trackable markers could be found. The DetectAdditional is called for tracking these. More...

void	TrackMarkersReset ()
	Clear the markers that are tracked. More...

Protected Member Functions
virtual void	_markers_clear ()=0

virtual void	_markers_push_back (Marker *mn)=0

virtual size_t	_markers_size ()=0

virtual void	_swap_marker_tables ()=0

virtual Marker *	_track_markers_at (size_t i)=0

virtual void	_track_markers_clear ()=0

virtual void	_track_markers_push_back (Marker *mn)=0

virtual size_t	_track_markers_size ()=0

	MarkerDetectorImpl ()

virtual Marker *	new_M (double _edge_length=0, int _res=0, double _margin=0)=0

virtual	~MarkerDetectorImpl ()

Protected Attributes
bool	detect_pose_grayscale

double	edge_length

Labeling *	labeling

std::map< unsigned long, double >	map_edge_length

double	margin

int	res

Detailed Description

Templateless version of MarkerDetector. Please use MarkerDetector instead.

Definition at line 54 of file MarkerDetector.h.

Constructor & Destructor Documentation

alvar::MarkerDetectorImpl::MarkerDetectorImpl ( )

protected

Definition at line 33 of file MarkerDetector.cpp.

alvar::MarkerDetectorImpl::~MarkerDetectorImpl ( )

protectedvirtual

Definition at line 39 of file MarkerDetector.cpp.

Member Function Documentation

virtual void alvar::MarkerDetectorImpl::_markers_clear ( )

protectedpure virtual

Implemented in alvar::MarkerDetector< M >, and alvar::MarkerDetector< alvar::MarkerData >.

virtual void alvar::MarkerDetectorImpl::_markers_push_back ( Marker * mn )

protectedpure virtual

Implemented in alvar::MarkerDetector< M >, and alvar::MarkerDetector< alvar::MarkerData >.

virtual size_t alvar::MarkerDetectorImpl::_markers_size ( )

protectedpure virtual

Implemented in alvar::MarkerDetector< M >, and alvar::MarkerDetector< alvar::MarkerData >.

virtual void alvar::MarkerDetectorImpl::_swap_marker_tables ( )

protectedpure virtual

Implemented in alvar::MarkerDetector< M >, and alvar::MarkerDetector< alvar::MarkerData >.

virtual Marker* alvar::MarkerDetectorImpl::_track_markers_at ( size_t i )

protectedpure virtual

Implemented in alvar::MarkerDetector< M >, and alvar::MarkerDetector< alvar::MarkerData >.

virtual void alvar::MarkerDetectorImpl::_track_markers_clear ( )

protectedpure virtual

Implemented in alvar::MarkerDetector< M >, and alvar::MarkerDetector< alvar::MarkerData >.

virtual void alvar::MarkerDetectorImpl::_track_markers_push_back ( Marker * mn )

protectedpure virtual

Implemented in alvar::MarkerDetector< M >, and alvar::MarkerDetector< alvar::MarkerData >.

virtual size_t alvar::MarkerDetectorImpl::_track_markers_size ( )

protectedpure virtual

Implemented in alvar::MarkerDetector< M >, and alvar::MarkerDetector< alvar::MarkerData >.

int alvar::MarkerDetectorImpl::Detect	(	IplImage *	image,
		Camera *	cam,
		bool	track = `false`,
		bool	visualize = `false`,
		double	max_new_marker_error = `0.08`,
		double	max_track_error = `0.2`,
		LabelingMethod	labeling_method = `CVSEQ`,
		bool	update_pose = `true`
	)

Detect Marker 's from image

The coordinates are little tricky. Here is a short summary.

Image (top-left origin).
The marker corners in the image are searched in sub-pixel accuracy in counter-clockwise order starting from "lower-left" corner.
The corresponding marker corners and marker points are in marker coordinates (x is to east, y is to north, and z is up from the marker)
The marker points are read from inside the margins starting from top-left and reading the bits first left-to-right one line at a time.

Definition at line 78 of file MarkerDetector.cpp.

int alvar::MarkerDetectorImpl::DetectAdditional	(	IplImage *	image,
		Camera *	cam,
		bool	visualize = `false`,
		double	max_track_error = `0.2`
	)

Definition at line 168 of file MarkerDetector.cpp.

virtual Marker* alvar::MarkerDetectorImpl::new_M	(	double	_edge_length = `0`,
		int	_res = `0`,
		double	_margin = `0`
	)

protectedpure virtual

Implemented in alvar::MarkerDetector< M >, and alvar::MarkerDetector< alvar::MarkerData >.

void alvar::MarkerDetectorImpl::SetMarkerSize	(	double	_edge_length = `1`,
		int	_res = `5`,
		double	_margin = `2`
	)

Set the default marker size to be used for all markers unless

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. By default we use 5x5 markers. If you use 0 with MarkerData, the marker resolution is detected automatically.
_margin	The marker margin resolution in pixels (The actual captured marker image has pixel resolution of _margin+_res+_margin)

Note: The default marker content resolution (_res) of 5 can only detect marker ids from 0 to 255. For larger marker ids, you need to increase the marker content resolution accordingly.

Definition at line 63 of file MarkerDetector.cpp.

void alvar::MarkerDetectorImpl::SetMarkerSizeForId	(	unsigned long	id,
		double	_edge_length = `1`
	)

Set marker size for specified marker id. This needs to be called after setting the default marker size.

Parameters

id	The specified marker id
_edge_length	Length of the marker's edge in whatever units you are using (e.g. cm)

Definition at line 70 of file MarkerDetector.cpp.

void alvar::MarkerDetectorImpl::SetOptions ( bool _detect_pose_grayscale = false )

Set marker size for specified marker id. This needs to be called after setting the default marker size.

Parameters

_detect_pose_grayscale Do we detect marker pose using grayscale optimization?

Definition at line 74 of file MarkerDetector.cpp.

void alvar::MarkerDetectorImpl::TrackMarkerAdd	(	int	id,
		PointDouble	corners[4]
	)

Add markers to be tracked Sometimes application or e.g. the MultiMarker implementation knows more about marker locations. Then this method can be used after Detect to indicate where additional trackable markers could be found. The DetectAdditional is called for tracking these.

Definition at line 47 of file MarkerDetector.cpp.

void alvar::MarkerDetectorImpl::TrackMarkersReset ( )

Clear the markers that are tracked.

Definition at line 43 of file MarkerDetector.cpp.

Member Data Documentation

bool alvar::MarkerDetectorImpl::detect_pose_grayscale

protected

Definition at line 72 of file MarkerDetector.h.

double alvar::MarkerDetectorImpl::edge_length

protected

Definition at line 69 of file MarkerDetector.h.

Labeling* alvar::MarkerDetectorImpl::labeling

protected

Definition at line 66 of file MarkerDetector.h.

std::map<unsigned long, double> alvar::MarkerDetectorImpl::map_edge_length

protected

Definition at line 68 of file MarkerDetector.h.

double alvar::MarkerDetectorImpl::margin

protected

Definition at line 71 of file MarkerDetector.h.

int alvar::MarkerDetectorImpl::res

protected

Definition at line 70 of file MarkerDetector.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation