My Project
Public Member Functions | List of all members
MultiMarkerEC Class Reference

Version of MultiMarker using external container. More...

#include <EC.h>

Inheritance diagram for MultiMarkerEC:
MultiMarker

Public Member Functions

template<typename T >
bool MarkersToEC (std::map< int, T > &container, int type_id=0, int first_id=0, int last_id=65535)
 Fill in 3D-coordinates for marker corners to the given container.
 
template<typename T >
bool MarkersFromEC (std::map< int, T > &container, int type_id=0, int first_id=0, int last_id=65535)
 
template<typename T >
bool Save (std::map< int, T > &container, const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT, int type_id=0, int first_id=0, int last_id=65535)
 
template<typename T >
bool Load (std::map< int, T > &container, const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT, int type_id=0, int first_id=0, int last_id=65535)
 Fill in 3D-coordinates for marker corners to the given container using save MultiMarker file.
 
- 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.
 

Additional Inherited Members

- 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 inherited from MultiMarker
std::map< int, cv::Point3d > pointcloud
 
std::vector< int > marker_indices
 
std::vector< int > marker_status
 

Detailed Description

Version of MultiMarker using external container.

Definition at line 958 of file EC.h.


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