Public Member Functions | List of all members
alvar::MultiMarkerEC Class Reference

Version of MultiMarker using external container. More...

#include <EC.h>

Inheritance diagram for alvar::MultiMarkerEC:
Inheritance graph
[legend]

Public Member Functions

template<typename T >
bool Load (std::map< int, T > &container, const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT, int type_id=0, int first_id=0, int last_id=65535)
 Fill in 3D-coordinates for marker corners to the given container using save MultiMarker file. More...
 
template<typename T >
bool MarkersFromEC (std::map< int, T > &container, int type_id=0, int first_id=0, int last_id=65535)
 
template<typename T >
bool MarkersToEC (std::map< int, T > &container, int type_id=0, int first_id=0, int last_id=65535)
 Fill in 3D-coordinates for marker corners to the given container. More...
 
template<typename T >
bool Save (std::map< int, T > &container, const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT, int type_id=0, int first_id=0, int last_id=65535)
 
- Public Member Functions inherited from alvar::MultiMarker
double _GetPose (MarkerIterator &begin, MarkerIterator &end, Camera *cam, Pose &pose, IplImage *image)
 
int _SetTrackMarkers (MarkerDetectorImpl &marker_detector, Camera *cam, Pose &pose, IplImage *image)
 
int get_id_index (int id, bool add_if_missing=false)
 
std::vector< int > getIndices ()
 
int getMasterId ()
 
template<class M >
double GetPose (const std::vector< M, Eigen::aligned_allocator< M > > *markers, Camera *cam, Pose &pose, IplImage *image=0)
 Calculates the pose of the camera from multi marker. Method uses the true 3D coordinates of markers to get the initial pose and then optimizes it by minimizing the reprojection error. More...
 
bool IsValidMarker (int marker_id)
 Returns true if the marker is in the point cloud. More...
 
bool Load (const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
 Loads multi marker configuration from a text file. More...
 
 MultiMarker (std::vector< int > &indices)
 Constructor. More...
 
 MultiMarker ()
 Default constructor. More...
 
int pointcloud_index (int marker_id, int marker_corner, bool add_if_missing=false)
 
void PointCloudAdd (int marker_id, double edge_length, Pose &pose)
 Adds marker corners to 3D point cloud of multi marker. More...
 
void PointCloudCopy (const MultiMarker *m)
 Copies the 3D point cloud from other multi marker object. More...
 
void PointCloudCorners3d (double edge_length, Pose &pose, CvPoint3D64f corners[4])
 Calculates 3D coordinates of marker corners relative to given pose (camera). More...
 
void PointCloudGet (int marker_id, int point, double &x, double &y, double &z)
 Returns 3D co-ordinates of one corner point of a marker. More...
 
bool PointCloudIsEmpty ()
 Returns true if the are not points in the 3D opint cloud. More...
 
void PointCloudReset ()
 Reserts the 3D point cloud of the markers. More...
 
virtual void Reset ()
 Resets the multi marker. More...
 
bool Save (const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
 Saves multi marker configuration to a text file. More...
 
template<class M >
int SetTrackMarkers (MarkerDetector< M > &marker_detector, Camera *cam, Pose &pose, IplImage *image=0)
 Set new markers to be tracked for MarkerDetector Sometimes the MultiMarker implementation knows more about marker locations compared to MarkerDetector . Then this method can be used to reset the internal state of MarkerDetector for tracking also these markers. More...
 
size_t Size ()
 Return the number of markers added using PointCloudAdd. More...
 
template<class M >
double Update (const std::vector< M, Eigen::aligned_allocator< M > > *markers, Camera *cam, Pose &pose, IplImage *image=0)
 Calls GetPose to obtain camera pose. More...
 

Additional Inherited Members

- Public Attributes inherited from alvar::MultiMarker
std::vector< int > marker_indices
 
std::vector< int > marker_status
 
int master_id
 
std::map< int, CvPoint3D64f > pointcloud
 
std::vector< std::vector< tf::Vector3 > > rel_corners
 

Detailed Description

Version of MultiMarker using external container.

Definition at line 759 of file EC.h.

Member Function Documentation

template<typename T >
bool alvar::MultiMarkerEC::Load ( std::map< int, T > &  container,
const char *  fname,
FILE_FORMAT  format = FILE_FORMAT_DEFAULT,
int  type_id = 0,
int  first_id = 0,
int  last_id = 65535 
)
inline

Fill in 3D-coordinates for marker corners to the given container using save MultiMarker file.

Definition at line 800 of file EC.h.

template<typename T >
bool alvar::MultiMarkerEC::MarkersFromEC ( std::map< int, T > &  container,
int  type_id = 0,
int  first_id = 0,
int  last_id = 65535 
)
inline

Definition at line 786 of file EC.h.

template<typename T >
bool alvar::MultiMarkerEC::MarkersToEC ( std::map< int, T > &  container,
int  type_id = 0,
int  first_id = 0,
int  last_id = 65535 
)
inline

Fill in 3D-coordinates for marker corners to the given container.

Definition at line 763 of file EC.h.

template<typename T >
bool alvar::MultiMarkerEC::Save ( std::map< int, T > &  container,
const char *  fname,
FILE_FORMAT  format = FILE_FORMAT_DEFAULT,
int  type_id = 0,
int  first_id = 0,
int  last_id = 65535 
)
inline

Definition at line 792 of file EC.h.


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


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Mon Jun 10 2019 12:47:04