alvar::MultiMarkerFiltered Class Reference

Multi marker that is constructed by first calculating the marker poses directly relative to base marker and then filtering the results using e.g. median filter. More...

#include <MultiMarkerFiltered.h>

Inheritance diagram for alvar::MultiMarkerFiltered:

List of all members.

Public Member Functions
void	MeasurementsReset ()
	Reset the measurements.
	MultiMarkerFiltered (std::vector< int > &indices)
	Constructor.
void	PointCloudAverage (int marker_id, double edge_length, Pose &pose)
	Updates the 3D point cloud by averaging the calculated results.
template<class M >
double	Update (const std::vector< M > *markers, Camera *cam, Pose &pose, IplImage *image=0)
	Updates the marker field and camera pose.
	~MultiMarkerFiltered ()
	Destructor.
Protected Member Functions
double	_Update (MarkerIterator &begin, MarkerIterator &end, Camera *cam, Pose &pose, IplImage *image)
Protected Attributes
FilterMedian *	pointcloud_filtered
Static Protected Attributes
static const int	filter_buffer_max = 15

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Detailed Description

Multi marker that is constructed by first calculating the marker poses directly relative to base marker and then filtering the results using e.g. median filter.

This can be used to initialize the marker field for MultiMarkerBundle class.

Definition at line 45 of file MultiMarkerFiltered.h.

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Constructor & Destructor Documentation

alvar::MultiMarkerFiltered::MultiMarkerFiltered

(

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 MultiMarkerFiltered.cpp.

alvar::MultiMarkerFiltered::~MultiMarkerFiltered

(

)

Destructor.

Definition at line 40 of file MultiMarkerFiltered.cpp.

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Member Function Documentation

double alvar::MultiMarkerFiltered::_Update	(	MarkerIterator &	begin,
		MarkerIterator &	end,
		Camera *	cam,
		Pose &	pose,
		IplImage *	image
	)		[protected]

Definition at line 68 of file MultiMarkerFiltered.cpp.

void alvar::MultiMarkerFiltered::MeasurementsReset

(

)

[inline]

Reset the measurements.

Definition at line 89 of file MultiMarkerFiltered.h.

void alvar::MultiMarkerFiltered::PointCloudAverage	(	int	marker_id,
		double	edge_length,
		Pose &	pose
	)

Updates the 3D point cloud by averaging the calculated results.

Parameters:

marker_id	The id of the marker whose corner positions are updated.
edge_length	The edge length of the marker.
pose	Current camera pose that is used to estimate the marker position.

Definition at line 45 of file MultiMarkerFiltered.cpp.

template<class M >

double alvar::MultiMarkerFiltered::Update	(	const std::vector< M > *	markers,
		Camera *	cam,
		Pose &	pose,
		IplImage *	image = 0
	)		[inline]

Updates the marker field and camera pose.

Parameters:

markers	Markers seen by the camera.
camera	Camera object used to detect markers.
pose	Current camera pose. This is also updated.
image	If != 0 some visualization will be drawn.

Definition at line 77 of file MultiMarkerFiltered.h.

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Member Data Documentation

const int alvar::MultiMarkerFiltered::filter_buffer_max = 15 [static, protected]

Definition at line 48 of file MultiMarkerFiltered.h.

FilterMedian* alvar::MultiMarkerFiltered::pointcloud_filtered [protected]

Definition at line 49 of file MultiMarkerFiltered.h.

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

• MultiMarkerFiltered.h
• MultiMarkerFiltered.cpp