Public Member Functions | Protected Member Functions | Protected Attributes
alvar::MultiMarkerBundle Class Reference

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:
Inheritance graph
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List of all members.

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< Posecamera_poses
std::map< int, PointDoublemeasurements
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:
indicesVector of marker codes that are included into multi marker. The first element defines origin.

Definition at line 31 of file MultiMarkerBundle.cpp.

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.

Definition at line 75 of file MultiMarkerBundle.h.

Definition at line 76 of file MultiMarkerBundle.h.

Definition at line 77 of file MultiMarkerBundle.h.

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:
markersVector of markers detected by MarkerDetector.
camera_poseCurrent camera pose.
Examples:
SampleMultiMarkerBundle.cpp.

Definition at line 85 of file MultiMarkerBundle.h.

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:
markersVector of markers detected by MarkerDetector.
camera_poseCurrent camera pose.
max_iterMaximum number of iteration loops.
methodThe method that is applied inside optimization. Try Optimization::LEVENBERGMARQUARDT or Optimization::GAUSSNEWTON or Optmization::TUKEY_LM
Examples:
SampleMultiMarkerBundle.cpp.

Definition at line 102 of file MultiMarkerBundle.cpp.


Member Data Documentation

std::vector<Pose> alvar::MultiMarkerBundle::camera_poses [protected]

Definition at line 52 of file MultiMarkerBundle.h.

Definition at line 53 of file MultiMarkerBundle.h.

Definition at line 50 of file MultiMarkerBundle.h.

Definition at line 48 of file MultiMarkerBundle.h.

Definition at line 49 of file MultiMarkerBundle.h.

Definition at line 51 of file MultiMarkerBundle.h.


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


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Thu Feb 16 2017 03:23:02