Class MarkerMapPoseTracker

Defined in File posetracker.h

Class Documentation

class MarkerMapPoseTracker

Tracks the position of a markermap

Public Functions

MarkerMapPoseTracker()

void setParams(const CameraParameters &cam_params, const MarkerMap &msconf, float markerSize = -1)

inline bool isValid() const

inline void reset()

bool estimatePose(const std::vector<Marker> &v_m)

cv::Mat getRTMatrix() const

inline const cv::Mat getRvec() const

inline const cv::Mat getTvec() const

inline void setMaxTrackingDifference(float maxTranslation, float maxAngle)

inline void setMinErrorRatio(float minErrorRatio)

inline double getInitialErr()

Protected Functions

cv::Mat relocalization(const std::vector<Marker> &v_m)

Protected Attributes

cv::Mat _rvec

cv::Mat _tvec

aruco::CameraParameters _cam_params

MarkerMap _msconf

std::map<int, Marker3DInfo> _map_mm

bool _isValid

float aruco_minerrratio_valid

std::map<uint32_t, cv::Mat> marker_m2g

float _maxTranslation = -1

float _maxAngle = -1

double _initial_err