Initializes multi marker by estimating their relative positions from one or more images. More...

#include <MultiMarkerInitializer.h>

Inheritance diagram for alvar::MultiMarkerInitializer:

Classes
class	MarkerMeasurement
	MarkerMeasurement that holds the maker id. More...

Public Member Functions
int	getMeasurementCount ()

const std::vector< MarkerMeasurement, Eigen::aligned_allocator< MarkerMeasurement > > &	getMeasurementMarkers (int measurement)

double	getMeasurementPose (int measurement, Camera *cam, Pose &pose)

int	Initialize (Camera *cam)

template<class M >
void	MeasurementsAdd (const std::vector< M, Eigen::aligned_allocator< M > > *markers)

void	MeasurementsReset ()

	MultiMarkerInitializer (std::vector< int > &indices, int filter_buffer_min=4, int filter_buffer_max=15)

	~MultiMarkerInitializer ()

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 Types
typedef std::vector< std::vector< MarkerMeasurement, Eigen::aligned_allocator< MarkerMeasurement > > >::iterator	MeasurementIterator

Protected Member Functions
void	MeasurementsAdd (MarkerIterator &begin, MarkerIterator &end)

bool	updateMarkerPoses (std::vector< MarkerMeasurement, Eigen::aligned_allocator< MarkerMeasurement > > &markers, const Pose &pose)

Protected Attributes
int	filter_buffer_min

std::vector< bool >	marker_detected

std::vector< std::vector< MarkerMeasurement, Eigen::aligned_allocator< MarkerMeasurement > > >	measurements

FilterMedian *	pointcloud_filtered

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

Initializes multi marker by estimating their relative positions from one or more images.

To use, detect markers from images using MarkerDetector and call addMeasurement for each image that has at least two markers. Finally, call initialize to compute the relative positions of markers.

After the multi marker has been initialized, the point cloud can be copied into another MultiMarker implementation by PointCloudCopy.

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 50 of file MultiMarkerInitializer.h.

Member Typedef Documentation

◆ MeasurementIterator

typedef std::vector<std::vector<MarkerMeasurement, Eigen::aligned_allocator<MarkerMeasurement> > >::iterator alvar::MultiMarkerInitializer::MeasurementIterator

protected

Definition at line 68 of file MultiMarkerInitializer.h.

Constructor & Destructor Documentation

◆ MultiMarkerInitializer()

alvar::MultiMarkerInitializer::MultiMarkerInitializer	(	std::vector< int > &	indices,
		int	filter_buffer_min = `4`,
		int	filter_buffer_max = `15`
	)

Definition at line 32 of file MultiMarkerInitializer.cpp.

◆ ~MultiMarkerInitializer()

alvar::MultiMarkerInitializer::~MultiMarkerInitializer ( )

Member Function Documentation

◆ getMeasurementCount()

int alvar::MultiMarkerInitializer::getMeasurementCount ( )

inline

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 113 of file MultiMarkerInitializer.h.

◆ getMeasurementMarkers()

const std::vector<MarkerMeasurement, Eigen::aligned_allocator<MarkerMeasurement> >& alvar::MultiMarkerInitializer::getMeasurementMarkers ( int measurement )

inline

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 115 of file MultiMarkerInitializer.h.

◆ getMeasurementPose()

double alvar::MultiMarkerInitializer::getMeasurementPose	(	int	measurement,
		Camera *	cam,
		Pose &	pose
	)

inline

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 119 of file MultiMarkerInitializer.h.

◆ Initialize()

int alvar::MultiMarkerInitializer::Initialize ( Camera * cam )

Tries to deduce marker poses from measurements.

Returns the number of initialized markers.

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 94 of file MultiMarkerInitializer.cpp.

◆ MeasurementsAdd() [1/2]

void alvar::MultiMarkerInitializer::MeasurementsAdd	(	MarkerIterator &	begin,
		MarkerIterator &	end
	)

protected

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 44 of file MultiMarkerInitializer.cpp.

◆ MeasurementsAdd() [2/2]

template<class M >

void alvar::MultiMarkerInitializer::MeasurementsAdd ( const std::vector< M, Eigen::aligned_allocator< M > > * markers )

inline

Adds a new measurement for marker field initialization. Each measurement should contain at least two markers. It does not matter which markers are visible, especially the zero marker does not have to be visible in every measurement. It suffices that there exists a 'path' from the zero marker to every other marker in the marker field.

For example:

first measurement contains marker A and B.
second measurement containt markers ZERO and A.

When Initialize is called, the system can first deduce the pose of A and then the pose of B.

Definition at line 95 of file MultiMarkerInitializer.h.

◆ MeasurementsReset()

void alvar::MultiMarkerInitializer::MeasurementsReset ( )

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 83 of file MultiMarkerInitializer.cpp.

◆ updateMarkerPoses()

bool alvar::MultiMarkerInitializer::updateMarkerPoses	(	std::vector< MarkerMeasurement, Eigen::aligned_allocator< MarkerMeasurement > > &	markers,
		const Pose &	pose
	)

protected

Definition at line 120 of file MultiMarkerInitializer.cpp.

Member Data Documentation

◆ filter_buffer_min

int alvar::MultiMarkerInitializer::filter_buffer_min

protected

Definition at line 70 of file MultiMarkerInitializer.h.

◆ marker_detected

std::vector<bool> alvar::MultiMarkerInitializer::marker_detected

protected

Definition at line 66 of file MultiMarkerInitializer.h.

◆ measurements

std::vector<std::vector<MarkerMeasurement, Eigen::aligned_allocator<MarkerMeasurement> > > alvar::MultiMarkerInitializer::measurements

protected

Definition at line 67 of file MultiMarkerInitializer.h.

◆ pointcloud_filtered

FilterMedian* alvar::MultiMarkerInitializer::pointcloud_filtered

protected

Definition at line 69 of file MultiMarkerInitializer.h.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MeasurementIterator

Constructor & Destructor Documentation

◆ MultiMarkerInitializer()

◆ ~MultiMarkerInitializer()

Member Function Documentation

◆ getMeasurementCount()

◆ getMeasurementMarkers()

◆ getMeasurementPose()

◆ Initialize()

◆ MeasurementsAdd() [1/2]

◆ MeasurementsAdd() [2/2]

◆ MeasurementsReset()

◆ updateMarkerPoses()

Member Data Documentation

◆ filter_buffer_min

◆ marker_detected

◆ measurements

◆ pointcloud_filtered