Multi marker that uses bundle adjustment to refine the 3D positions of the markers (point cloud). More...

#include <MultiMarkerBundle.h>

Inheritance diagram for alvar::MultiMarkerBundle:

Public Member Functions
double	GetOptimizationError ()
int	GetOptimizationKeyframes ()
int	GetOptimizationMarkers ()
bool	GetOptimizing ()
template<class M >
void	MeasurementsAdd (const std::vector< M, Eigen::aligned_allocator< M > > *markers, const Pose &camera_pose)
	Adds new measurements that are used in bundle adjustment.
void	MeasurementsReset ()
	Resets the measurements and camera poses that are stored for bundle adjustment. If something goes from in optimization one will call this and acquire new measurements.
	MultiMarkerBundle (std::vector< int > &indices)
	Constructor.
bool	Optimize (Camera *_cam, double stop, int max_iter, Optimization::OptimizeMethod method=Optimization::TUKEY_LM)
	Runs the bundle adjustment optimization.
	~MultiMarkerBundle ()
Protected Member Functions
void	_MeasurementsAdd (MarkerIterator &begin, MarkerIterator &end, const Pose &camera_pose)
int	measurements_index (int frame, int marker_id, int marker_corner)
Protected Attributes
std::vector< Pose >	camera_poses
std::map< int, PointDouble >	measurements
double	optimization_error
int	optimization_keyframes
int	optimization_markers
bool	optimizing

Detailed Description

Multi marker that uses bundle adjustment to refine the 3D positions of the markers (point cloud).

This can be initialized by using e.g. MultiMarkerAverage class.

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 45 of file MultiMarkerBundle.h.

Constructor & Destructor Documentation

alvar::MultiMarkerBundle::MultiMarkerBundle ( std::vector< int > & indices )

Constructor.

Parameters:

indices Vector of marker codes that are included into multi marker. The first element defines origin.

Definition at line 31 of file MultiMarkerBundle.cpp.

alvar::MultiMarkerBundle::~MultiMarkerBundle ( )

Definition at line 37 of file MultiMarkerBundle.cpp.

Member Function Documentation

void alvar::MultiMarkerBundle::_MeasurementsAdd	(	MarkerIterator &	begin,
		MarkerIterator &	end,
		const Pose &	camera_pose
	)		`[protected]`

Definition at line 253 of file MultiMarkerBundle.cpp.

double alvar::MultiMarkerBundle::GetOptimizationError ( ) [inline]

Definition at line 75 of file MultiMarkerBundle.h.

int alvar::MultiMarkerBundle::GetOptimizationKeyframes ( ) [inline]

Definition at line 76 of file MultiMarkerBundle.h.

int alvar::MultiMarkerBundle::GetOptimizationMarkers ( ) [inline]

Definition at line 77 of file MultiMarkerBundle.h.

bool alvar::MultiMarkerBundle::GetOptimizing ( ) [inline]

Definition at line 78 of file MultiMarkerBundle.h.

int alvar::MultiMarkerBundle::measurements_index	(	int	frame,
		int	marker_id,
		int	marker_corner
	)		`[inline, protected]`

Definition at line 54 of file MultiMarkerBundle.h.

template<class M >

void alvar::MultiMarkerBundle::MeasurementsAdd	(	const std::vector< M, Eigen::aligned_allocator< M > > *	markers,
		const Pose &	camera_pose
	)		`[inline]`

Adds new measurements that are used in bundle adjustment.

Parameters:

markers	Vector of markers detected by MarkerDetector.
camera_pose	Current camera pose.

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 85 of file MultiMarkerBundle.h.

void alvar::MultiMarkerBundle::MeasurementsReset ( )

Resets the measurements and camera poses that are stored for bundle adjustment. If something goes from in optimization one will call this and acquire new measurements.

Examples:: SampleMultiMarkerBundle.cpp.

Definition at line 41 of file MultiMarkerBundle.cpp.

bool alvar::MultiMarkerBundle::Optimize	(	Camera *	_cam,
		double	stop,
		int	max_iter,
		Optimization::OptimizeMethod	method = `Optimization::TUKEY_LM`
	)

Runs the bundle adjustment optimization.

Parameters:

markers	Vector of markers detected by MarkerDetector.
camera_pose	Current camera pose.
max_iter	Maximum number of iteration loops.
method	The method that is applied inside optimization. Try Optimization::LEVENBERGMARQUARDT or Optimization::GAUSSNEWTON or Optmization::TUKEY_LM