MarkerData contains matrix of Hamming encoded data. More...

#include <Marker.h>

Inheritance diagram for alvar::MarkerData:

Public Types
enum	MarkerContentType { MARKER_CONTENT_TYPE_NUMBER, MARKER_CONTENT_TYPE_STRING, MARKER_CONTENT_TYPE_FILE, MARKER_CONTENT_TYPE_HTTP }

Public Member Functions
bool	DecodeContent (int *orientation)
	DecodeContent should be called after UpdateContent to fill content_type, decode_error and data More...

unsigned long	GetId () const
	Get ID for recognizing this marker. More...

	MarkerData (double _edge_length=0, int _res=0, double _margin=0)
	Default constructor. More...

void	SetContent (MarkerContentType content_type, unsigned long id, const char *str, bool force_strong_hamming=false, bool verbose=false)
	Updates the marker_content by "encoding" the given parameters. More...

void	SetId (unsigned long _id)
	Set the ID. More...

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 Compared to the basic implementation in Marker this will also detect the marker resolution automatically when the marker resolution is specified to be 0. More...

Public Member Functions inherited from alvar::Marker
void	CompareContent (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, IplImage gray, Camera cam, int *orientation) const
	Compares the marker corners with the previous match. More...

void	CompareCorners (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, int orientation, double error)
	Compares the marker corners with the previous match. More...

CvMat *	GetContent () const
	Returns the content as a matrix. More...

double	GetError (int errors=(MARGIN_ERROR\|DECODE_ERROR)) const
	Get marker detection error estimate. More...

double	GetMargin () const

double	GetMarkerEdgeLength () const
	Get edge length (to support different size markers. More...

int	GetRes () const

	Marker (double _edge_length=0, int _res=0, double _margin=0)
	Default constructor. More...

	Marker (const Marker &m)
	Copy constructor. More...

void	SaveMarkerImage (const char *filename, int save_res=0) const
	Saves the marker as an image. More...

void	ScaleMarkerToImage (IplImage *image) const
	Draw the marker filling the ROI in the given image. More...

void	SetError (int error_type, double value)
	Set the marker error estimate. More...

void	SetMarkerSize (double _edge_length=0, int _res=0, double _margin=0)
	Method for resizing the marker dimensions. More...

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. More...

void	Visualize (IplImage image, Camera cam, CvScalar color=CV_RGB(255, 0, 0)) const
	Visualize the marker. More...

	~Marker ()
	Destructor. More...

Public Attributes
unsigned char	content_type

union {
unsigned long id

char str [MAX_MARKER_STRING_LEN]

}	data
	MarkerData content can be presented either as number (MARKER_CONTENT_TYPE_NUMBER) or string More...

Public Attributes inherited from alvar::Marker
std::vector< PointDouble >	marker_corners
	Marker corners in marker coordinates. More...

std::vector< PointDouble >	marker_corners_img
	Marker corners in image coordinates. More...

std::vector< PointDouble >	marker_margin_b
	Samples to be used in figuring out min/max for thresholding. More...

std::vector< PointDouble >	marker_margin_w
	Samples to be used in figuring out min/max for thresholding. More...

std::vector< PointDouble >	marker_points
	Marker color points in marker coordinates. More...

Pose	pose
	The current marker Pose. More...

ar_track_alvar::ARCloud	ros_corners_3D

std::vector< PointDouble >	ros_marker_points_img
	Marker points in image coordinates. More...

int	ros_orientation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	valid

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const int	MAX_MARKER_STRING_LEN =2048

Static Public Attributes inherited from alvar::Marker
static const int	DECODE_ERROR =2

static const int	MARGIN_ERROR =1

static const int	TRACK_ERROR =4

Protected Member Functions
void	Add6bitStr (BitsetExt bs, char s)

int	DecodeCode (int orientation, BitsetExt bs, int erroneous, int total, unsigned char content_type)

void	DecodeOrientation (int error, int total, int *orientation)

bool	DetectResolution (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, IplImage gray, Camera cam)

void	Read6bitStr (BitsetExt bs, char s, size_t s_max_len)

int	UsableDataBits (int marker_res, int hamming)

virtual void	VisualizeMarkerContent (IplImage image, Camera cam, double datatext_point[2], double content_point[2]) const

Protected Member Functions inherited from alvar::Marker
bool	UpdateContentBasic (std::vector< Point< CvPoint2D64f > > &_marker_corners_img, IplImage gray, Camera cam, int frame_no=0)

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

Additional Inherited Members
Protected Attributes inherited from alvar::Marker
double	decode_error

double	edge_length

double	margin

double	margin_error

CvMat *	marker_content

int	res

double	track_error

Detailed Description

MarkerData contains matrix of Hamming encoded data.

Examples:: SampleMarkerCreator.cpp.

Definition at line 221 of file Marker.h.

Member Enumeration Documentation

enum alvar::MarkerData::MarkerContentType

Enumerator
MARKER_CONTENT_TYPE_NUMBER
MARKER_CONTENT_TYPE_STRING
MARKER_CONTENT_TYPE_FILE
MARKER_CONTENT_TYPE_HTTP

Definition at line 235 of file Marker.h.

Constructor & Destructor Documentation

alvar::MarkerData::MarkerData	(	double	_edge_length = `0`,
		int	_res = `0`,
		double	_margin = `0`
	)

inline

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 254 of file Marker.h.

Member Function Documentation

void alvar::MarkerData::Add6bitStr	(	BitsetExt *	bs,
		char *	s
	)

protected

Definition at line 906 of file Marker.cpp.

int alvar::MarkerData::DecodeCode	(	int	orientation,
		BitsetExt *	bs,
		int *	erroneous,
		int *	total,
		unsigned char *	content_type
	)

protected

Definition at line 771 of file Marker.cpp.

bool alvar::MarkerData::DecodeContent ( int * orientation )

virtual

DecodeContent should be called after UpdateContent to fill content_type, decode_error and data

Reimplemented from alvar::Marker.

Definition at line 878 of file Marker.cpp.

void alvar::MarkerData::DecodeOrientation	(	int *	error,
		int *	total,
		int *	orientation
	)

protected

Definition at line 632 of file Marker.cpp.

bool alvar::MarkerData::DetectResolution	(	std::vector< Point< CvPoint2D64f > > &	_marker_corners_img,
		IplImage *	gray,
		Camera *	cam
	)

protected

Definition at line 670 of file Marker.cpp.

unsigned long alvar::MarkerData::GetId ( ) const

inlinevirtual

Get ID for recognizing this marker.

Reimplemented from alvar::Marker.

Definition at line 259 of file Marker.h.

void alvar::MarkerData::Read6bitStr	(	BitsetExt *	bs,
		char *	s,
		size_t	s_max_len
	)

protected

Definition at line 829 of file Marker.cpp.

void alvar::MarkerData::SetContent	(	MarkerContentType	content_type,
		unsigned long	id,
		const char *	str,
		bool	force_strong_hamming = `false`,
		bool	verbose = `false`
	)

Updates the marker_content by "encoding" the given parameters.

Examples:: SampleMarkerCreator.cpp.

Definition at line 957 of file Marker.cpp.

void alvar::MarkerData::SetId ( unsigned long _id )

inlinevirtual

Set the ID.

Reimplemented from alvar::Marker.

Definition at line 261 of file Marker.h.

bool alvar::MarkerData::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 Compared to the basic implementation in Marker this will also detect the marker resolution automatically when the marker resolution is specified to be 0.

Reimplemented from alvar::Marker.

Definition at line 764 of file Marker.cpp.

int alvar::MarkerData::UsableDataBits	(	int	marker_res,
		int	hamming
	)

protected

Definition at line 945 of file Marker.cpp.

void alvar::MarkerData::VisualizeMarkerContent	(	IplImage *	image,
		Camera *	cam,
		double	datatext_point[2],
		double	content_point[2]
	)		const

protectedvirtual

Reimplemented from alvar::Marker.

Definition at line 107 of file Marker.cpp.

Member Data Documentation

unsigned char alvar::MarkerData::content_type

Definition at line 241 of file Marker.h.

union { ... } alvar::MarkerData::data

MarkerData content can be presented either as number (MARKER_CONTENT_TYPE_NUMBER) or string

unsigned long alvar::MarkerData::id

Definition at line 245 of file Marker.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const int alvar::MarkerData::MAX_MARKER_STRING_LEN =2048

static

Definition at line 234 of file Marker.h.

char alvar::MarkerData::str[MAX_MARKER_STRING_LEN]

Definition at line 246 of file Marker.h.

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation