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MultiMarkerBundle Class Reference

Multi marker that uses bundle adjustment to refine the 3D positions of the markers (point cloud). More...

#include <MultiMarkerBundle.h>

Inheritance diagram for MultiMarkerBundle:
MultiMarker

Public Member Functions

 MultiMarkerBundle (std::vector< int > &indices)
 Constructor. 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.
 
double GetOptimizationError ()
 
int GetOptimizationKeyframes ()
 
int GetOptimizationMarkers ()
 
bool GetOptimizing ()
 
template<class M >
void MeasurementsAdd (const std::vector< M > *markers, const Pose &camera_pose)
 Adds new measurements that are used in bundle adjustment. More...
 
bool Optimize (Camera *_cam, double stop, int max_iter, Optimization::OptimizeMethod method=Optimization::TUKEY_LM)
 Runs the bundle adjustment optimization. More...
 
- Public Member Functions inherited from MultiMarker
virtual void Reset ()
 Resets the multi marker.
 
bool Save (const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
 Saves multi marker configuration to a text file. 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.
 
template<class M >
double GetPose (const std::vector< M > *markers, Camera *cam, Pose &pose, cv::Mat &image)
 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...
 
template<class M >
double GetPose (const std::vector< M > *markers, Camera *cam, Pose &pose)
 
template<class M >
double Update (const std::vector< M > *markers, Camera *cam, Pose &pose, cv::Mat &image)
 Calls GetPose to obtain camera pose.
 
template<class M >
double Update (const std::vector< M > *markers, Camera *cam, Pose &pose)
 
void PointCloudReset ()
 Reserts the 3D point cloud of the markers.
 
void PointCloudCorners3d (double edge_length, Pose &pose, cv::Point3d corners[4])
 Calculates 3D coordinates of marker corners relative to given pose (camera). More...
 
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.
 
bool PointCloudIsEmpty ()
 Returns true if the are not points in the 3D opint cloud.
 
size_t Size ()
 Return the number of markers added using PointCloudAdd.
 
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 IsValidMarker (int marker_id)
 Returns true if the marker is in the point cloud. More...
 
template<class M >
int SetTrackMarkers (MarkerDetector< M > &marker_detector, Camera *cam, Pose &pose, cv::Mat &image)
 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.
 

Protected Member Functions

int measurements_index (int frame, int marker_id, int marker_corner)
 
void _MeasurementsAdd (MarkerIterator &begin, MarkerIterator &end, const Pose &camera_pose)
 
- Protected Member Functions inherited from MultiMarker
int pointcloud_index (int marker_id, int marker_corner, bool add_if_missing=false)
 
int get_id_index (int id, bool add_if_missing=false)
 
double _GetPose (MarkerIterator &begin, MarkerIterator &end, Camera *cam, Pose &pose, cv::Mat &image)
 
double _GetPose (MarkerIterator &begin, MarkerIterator &end, Camera *cam, Pose &pose)
 
int _SetTrackMarkers (MarkerDetectorImpl &marker_detector, Camera *cam, Pose &pose, cv::Mat &image)
 

Protected Attributes

int optimization_keyframes
 
int optimization_markers
 
double optimization_error
 
bool optimizing
 
std::vector< Posecamera_poses
 
std::map< int, PointDoublemeasurements
 
- Protected Attributes inherited from MultiMarker
std::map< int, cv::Point3d > pointcloud
 
std::vector< int > marker_indices
 
std::vector< int > marker_status
 

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.

Definition at line 44 of file MultiMarkerBundle.h.

Constructor & Destructor Documentation

◆ MultiMarkerBundle()

MultiMarkerBundle ( std::vector< int > &  indices)

Constructor.

Parameters
indicesVector of marker codes that are included into multi marker. The first element defines origin.

Member Function Documentation

◆ MeasurementsAdd()

void MeasurementsAdd ( const std::vector< M > *  markers,
const Pose camera_pose 
)
inline

Adds new measurements that are used in bundle adjustment.

Parameters
markersVector of markers detected by MarkerDetector.
camera_poseCurrent camera pose.

Definition at line 102 of file MultiMarkerBundle.h.

◆ Optimize()

bool Optimize ( Camera _cam,
double  stop,
int  max_iter,
Optimization::OptimizeMethod  method = Optimization::TUKEY_LM 
)

Runs the bundle adjustment optimization.

Parameters
markersVector of markers detected by MarkerDetector.
camera_poseCurrent camera pose.
max_iterMaximum number of iteration loops.
methodThe method that is applied inside optimization. Try Optimization::LEVENBERGMARQUARDT or Optimization::GAUSSNEWTON or Optmization::TUKEY_LM

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