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. More...

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. More...

	MultiMarkerBundle (std::vector< int > &indices)
	Constructor. More...

bool	Optimize (Camera *_cam, double stop, int max_iter, Optimization::OptimizeMethod method=Optimization::TUKEY_LM)
	Runs the bundle adjustment optimization. More...

	~MultiMarkerBundle ()

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...

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

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

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
	)

inlineprotected

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

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.

std::map<int, PointDouble> alvar::MultiMarkerBundle::measurements

protected

Definition at line 53 of file MultiMarkerBundle.h.

double alvar::MultiMarkerBundle::optimization_error

protected

Definition at line 50 of file MultiMarkerBundle.h.

int alvar::MultiMarkerBundle::optimization_keyframes

protected

Definition at line 48 of file MultiMarkerBundle.h.

int alvar::MultiMarkerBundle::optimization_markers

protected

Definition at line 49 of file MultiMarkerBundle.h.

bool alvar::MultiMarkerBundle::optimizing

protected

Definition at line 51 of file MultiMarkerBundle.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation