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.
void	CompareCorners (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, int orientation, double error)
	Compares the marker corners with the previous match.
virtual bool	DecodeContent (int *orientation)
	Decodes the marker content. Please call UpdateContent before this. This virtual method is meant to be implemented by heirs.
CvMat *	GetContent () const
	Returns the content as a matrix.
double	GetError (int errors=(MARGIN_ERROR\|DECODE_ERROR)) const
	Get marker detection error estimate.
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.
double	GetMargin () const
double	GetMarkerEdgeLength () const
	Get edge length (to support different size markers.
int	GetRes () const
	Marker (double _edge_length=0, int _res=0, double _margin=0)
	Default constructor.
	Marker (const Marker &m)
	Copy constructor.
void	SaveMarkerImage (const char *filename, int save_res=0) const
	Saves the marker as an image.
void	ScaleMarkerToImage (IplImage *image) const
	Draw the marker filling the ROI in the given image.
void	SetError (int error_type, double value)
	Set the marker error estimate.
virtual void	SetId (unsigned long _id)
void	SetMarkerSize (double _edge_length=0, int _res=0, double _margin=0)
	Method for resizing the marker dimensions.
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.
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.
void	Visualize (IplImage image, Camera cam, CvScalar color=CV_RGB(255, 0, 0)) const
	Visualize the marker.
	~Marker ()
	Destructor.
Public Attributes
std::vector< PointDouble >	marker_corners
	Marker corners in marker coordinates.
std::vector< PointDouble >	marker_corners_img
	Marker corners in image coordinates.
std::vector< PointDouble >	marker_margin_b
	Samples to be used in figuring out min/max for thresholding.
std::vector< PointDouble >	marker_margin_w
	Samples to be used in figuring out min/max for thresholding.
std::vector< PointDouble >	marker_points
	Marker color points in marker coordinates.
Pose	pose
	The current marker Pose.
ar_track_alvar::ARCloud	ros_corners_3D
std::vector< PointDouble >	ros_marker_points_img
	Marker points in image coordinates.
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 51 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 86 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 143 of file Marker.h.

virtual unsigned long alvar::Marker::GetId ( ) const [inline, virtual]

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 117 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 131 of file Marker.h.

double alvar::Marker::GetMarkerEdgeLength ( ) const [inline]

Get edge length (to support different size markers.

Definition at line 101 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 125 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 152 of file Marker.h.

virtual void alvar::Marker::SetId ( unsigned long _id ) [inline, virtual]

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

Definition at line 118 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 `[protected, virtual]`

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 `[protected, virtual]`

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]`