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

#include <MarkerDetector.h>

Inheritance diagram for alvar::MarkerDetectorImpl:

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
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.
void	TrackMarkersReset ()
	Clear the markers that are tracked.
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 53 of file MarkerDetector.h.

Constructor & Destructor Documentation

alvar::MarkerDetectorImpl::MarkerDetectorImpl ( ) [protected]

Definition at line 33 of file MarkerDetector.cpp.

alvar::MarkerDetectorImpl::~MarkerDetectorImpl ( ) [protected, virtual]

Definition at line 39 of file MarkerDetector.cpp.

Member Function Documentation

virtual void alvar::MarkerDetectorImpl::_markers_clear ( ) [protected, pure virtual]

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

virtual void alvar::MarkerDetectorImpl::_markers_push_back ( Marker * mn ) [protected, pure virtual]

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

virtual size_t alvar::MarkerDetectorImpl::_markers_size ( ) [protected, pure virtual]

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

virtual void alvar::MarkerDetectorImpl::_swap_marker_tables ( ) [protected, pure virtual]

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

virtual Marker* alvar::MarkerDetectorImpl::_track_markers_at ( size_t i ) [protected, pure virtual]

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

virtual void alvar::MarkerDetectorImpl::_track_markers_clear ( ) [protected, pure virtual]

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

virtual void alvar::MarkerDetectorImpl::_track_markers_push_back ( Marker * mn ) [protected, pure virtual]

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

virtual size_t alvar::MarkerDetectorImpl::_track_markers_size ( ) [protected, pure virtual]

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

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

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`
	)

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

Definition at line 168 of file MarkerDetector.cpp.

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

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

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

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)

Examples:: SampleMultiMarker.cpp.

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.