Fiducial detector class that allows for using multiple cameras at once for fiducial detection. More...

#include <MultiCamFiducialDetector.h>

Inheritance diagram for icl::markers::MultiCamFiducialDetector:

Public Member Functions
	MultiCamFiducialDetector ()
	creates an uninitialized instance
	MultiCamFiducialDetector (const std::string &pluginType, const utils::Any &markersToLoad, const utils::ParamList &params, const std::vector< geom::Camera * > &cams, bool syncProperties=true, bool deepCopyCams=false) throw (utils::ICLException)
	creates an initialized instance with given parameters
void	init (const std::string &pluginType, const utils::Any &markersToLoad, const utils::ParamList &params, const std::vector< geom::Camera * > &cams, bool syncProperties=true, bool deepCopyCams=false) throw (utils::ICLException)
	(re-)initializes the detector with given parameters
const std::vector < MultiCamFiducial > &	detect (const std::vector< const core::ImgBase * > &images, int minCamsFound=1) throw (utils::ICLException)
	detects fiducials in all images and returns the combined results
int	getNumCameras () const
	returns the internal number of cameras
const FiducialDetector &	getFiducialDetector (int idx) const
	returns the internal 2D FiducialDetector at given camera index
FiducialDetector &	getFiducialDetector (int idx)
	returns the internal 2D FiducialDetector at given camera index (const)
void	loadMarkers (const utils::Any &which, const utils::ParamList &params) throw (utils::ICLException)
	loads additional markers (passed to all 2D detectors)
void	unloadMarkers (const utils::Any &which)
	unloads markers (passed to all 2D detectors)
std::string	getIntermediateImageNames () const
	provides a comma separated list of intermediate images
const core::ImgBase *	getIntermediateImage (const std::string &name) const throw (utils::ICLException)
	returns a named intermeted image
Static Public Member Functions
static int	getCameraIDFromIntermediteImageName (const std::string &name)
	extract the current camera from the given intermediate image name
Private Member Functions
void	property_callback (const Property &p)
	internally used property callback
Private Attributes
Data *	m_data
	internal data structure

Detailed Description

Fiducial detector class that allows for using multiple cameras at once for fiducial detection.

By using more than one camera at once, the 3D Pose estimation accurrace can be increased significantly. The MultiCamFiducialDetector detects Fiducials in several input images and uses corresponding camera calibration files to provide highly accurate 3D marker poses. If a fiducial is only detectable in a single camera image, single-camera pose-estimation is used automatically.

How it works

Internall, for each camera view, a dedicated FiducialDetector is instantiated. If a new set of input images is given, all of these FiducialDetectors are applied to the corresponding image. Then, the 2D fiducial detection results are sorted by marker ID and combined. A MultiCamFiducial with ID x combines all fiducials with ID x that were detection in all views

Restriction

Due to the fact, that the markers are combined by ID, It is not allowed to have several markers with Identical IDs in a scene. If you have, they will be mixed up and the resulting 3D pose estimation becomes completly wrong.

See also:: MultiCamFiducial; FiducialDetector

Constructor & Destructor Documentation

icl::markers::MultiCamFiducialDetector::MultiCamFiducialDetector ( )

creates an uninitialized instance

icl::markers::MultiCamFiducialDetector::MultiCamFiducialDetector	(	const std::string &	pluginType,
		const utils::Any &	markersToLoad,
		const utils::ParamList &	params,
		const std::vector< geom::Camera * > &	cams,
		bool	syncProperties = `true`,
		bool	deepCopyCams = `false`
	)		throw (utils::ICLException)

creates an initialized instance with given parameters

See also:: MultiCamFiducialDetector::init

Member Function Documentation

const std::vector<MultiCamFiducial>& icl::markers::MultiCamFiducialDetector::detect	(	const std::vector< const core::ImgBase * > &	images,
		int	minCamsFound = `1`
	)		throw (utils::ICLException)

detects fiducials in all images and returns the combined results

Please note, that images[i] must correspond to cams[i] in the constructor/init method

static int icl::markers::MultiCamFiducialDetector::getCameraIDFromIntermediteImageName ( const std::string & name ) [static]

extract the current camera from the given intermediate image name

const FiducialDetector& icl::markers::MultiCamFiducialDetector::getFiducialDetector ( int idx ) const

returns the internal 2D FiducialDetector at given camera index

FiducialDetector& icl::markers::MultiCamFiducialDetector::getFiducialDetector ( int idx )

returns the internal 2D FiducialDetector at given camera index (const)

const core::ImgBase* icl::markers::MultiCamFiducialDetector::getIntermediateImage ( const std::string & name ) const throw (utils::ICLException)

returns a named intermeted image

std::string icl::markers::MultiCamFiducialDetector::getIntermediateImageNames ( ) const

provides a comma separated list of intermediate images

The returned list can simply be added to a view-selection combo box. e.g.

          icl::markers::MultiCamFiducialDetector fd;
          fd.init(...); 
          gui << Combo(fd.getIntermediateImageNames()).label("current image").handle("vis")
              << Draw3D().handle("image")
              << Show();

...

          gui["image"] = fd.getIntermediateImage( gui["vis"] );
          gui["image"].render();

int icl::markers::MultiCamFiducialDetector::getNumCameras ( ) const

returns the internal number of cameras

void icl::markers::MultiCamFiducialDetector::init	(	const std::string &	pluginType,
		const utils::Any &	markersToLoad,
		const utils::ParamList &	params,
		const std::vector< geom::Camera * > &	cams,
		bool	syncProperties = `true`,
		bool	deepCopyCams = `false`
	)		throw (utils::ICLException)

(re-)initializes the detector with given parameters

Parameters:

pluginType	this option directly passed to all internal 2D FiducialDetector instances
markersToLoad	this option directly passed to all internal 2D FiducialDetector instances
params	this option directly passed to all internal 2D FiducialDetector instances
cams	Contains the list of calibrated cameras. Please note that cams[i] must belong to images[i] in the MultiCamFiducialDetector::detect method
syncProperties	if this is set to false, each internal 2D FiducialDetector get's its own property list. If syncProperties is true (default), the 2D FiducialDetector properties are synchronized internally
deepCopyCams	by default, the given cameras are just copied shallowly (by pointer) if the cameras are moved at runtime, and the MultiCamFiducialDetector shall use the adapted camera parameters then, deepCopyCams must be left false (default) Please Note: you can obtain all cameras of a scene using Scene::getAllCameras()

void icl::markers::MultiCamFiducialDetector::loadMarkers	(	const utils::Any &	which,
		const utils::ParamList &	params
	)		throw (utils::ICLException)

loads additional markers (passed to all 2D detectors)

void icl::markers::MultiCamFiducialDetector::property_callback ( const Property & p ) [private]

internally used property callback

void icl::markers::MultiCamFiducialDetector::unloadMarkers ( const utils::Any & which )

unloads markers (passed to all 2D detectors)

Member Data Documentation

Data* icl::markers::MultiCamFiducialDetector::m_data [private]

internal data structure

internal data pointer

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

/home/jenkins/workspace/icl-manual-trunk/icl-manual/ICLMarkers/src/ICLMarkers/MultiCamFiducialDetector.h

Public Member Functions

Static Public Member Functions