24 #ifndef MULTIMARKERINITIALIZER_H
25 #define MULTIMARKERINITIALIZER_H
70 SetId(
unsigned long _id)
77 std::vector<bool> marker_detected;
78 std::vector<std::vector<MarkerMeasurement>> measurements;
79 typedef std::vector<std::vector<MarkerMeasurement>>::iterator MeasurementIterator;
80 FilterMedian * pointcloud_filtered;
81 int filter_buffer_min;
83 bool updateMarkerPoses(std::vector<MarkerMeasurement> &markers,
const Pose &pose);
84 void MeasurementsAdd(MarkerIterator &begin, MarkerIterator &end);
87 MultiMarkerInitializer(std::vector<int> &indices,
88 int filter_buffer_min = 4,
89 int filter_buffer_max = 15);
90 ~MultiMarkerInitializer();
113 MeasurementsAdd(begin, end);
119 void MeasurementsReset();
129 getMeasurementCount()
131 return measurements.size();
134 const std::vector<MarkerMeasurement> &
135 getMeasurementMarkers(
int measurement)
137 return measurements[measurement];
141 getMeasurementPose(
int measurement, Camera *cam, Pose &pose)
143 MarkerIteratorImpl<MarkerMeasurement> m_begin(measurements[measurement].begin());
144 MarkerIteratorImpl<MarkerMeasurement> m_end(measurements[measurement].end());
145 return _GetPose(m_begin, m_end, cam, pose);
This file implements a multi-marker.
Simple Camera class for calculating distortions, orientation or projections with pre-calibrated camer...
Basic 2D Marker functionality.
Iterator implementation for traversing templated Marker vector without the template.
Base class for using MultiMarker.
MarkerMeasurement that holds the maker id.
unsigned long GetId() const
Get id for this marker This is used e.g. in MarkerDetector to associate a marker id with an appropria...
Initializes multi marker by estimating their relative positions from one or more images.
void MeasurementsAdd(const std::vector< M > *markers)
int Initialize(Camera *cam)