Image Component Library (ICL)
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Generic Interface class for FiducialDetector plugins. More...
#include <FiducialDetectorPlugin.h>
Public Types | |
enum | SourceImageType { Binary, Gray, Color } |
Enumeration for differnt source image types. More... | |
Public Member Functions | |
FiducialDetectorPlugin () | |
initializes the plugin with a 0-camera | |
virtual | ~FiducialDetectorPlugin () |
virtual Destructor | |
virtual void | getCenter2D (utils::Point32f &dst, FiducialImpl &impl) |
returns how to compute the markers 2D center | |
virtual void | getRotation2D (float &dst, FiducialImpl &impl) |
returns how to compute the markers 2D rotation | |
virtual void | getCorners2D (std::vector< utils::Point32f > &dst, FiducialImpl &impl) |
returns how to compute the markers 2D corners (or significant points on its edges | |
virtual void | getKeyPoints2D (std::vector< Fiducial::KeyPoint > &dst, FiducialImpl &impl) |
returns how to compute a list of image-position/marker-position correspondences | |
virtual void | getCenter3D (geom::Vec &dst, FiducialImpl &impl) |
computes a markers 3D center | |
virtual void | getRotation3D (geom::Vec &dst, FiducialImpl &impl) |
computes a markers 3D rotation euler angles | |
virtual void | getPose3D (geom::Mat &dst, FiducialImpl &impl) |
computes a markers 3D position and rotation euler angles | |
virtual SourceImageType | getPreProcessing () const |
returns Binary (as default) | |
virtual void | getFeatures (Fiducial::FeatureSet &dst)=0 |
defines which features are supported | |
virtual void | detect (std::vector< FiducialImpl * > &dst, const core::Img8u &image)=0 |
defines how to detect markers from a given image | |
virtual void | addOrRemoveMarkers (bool add, const utils::Any &which, const utils::ParamList ¶ms)=0 |
defines how to load/remove marker definitions | |
virtual std::string | getName (const FiducialImpl *impl) |
creates a human readable name for the given impl | |
virtual std::string | getIntermediateImageNames () const |
optionall returns a (comma separated) list of intermediate images | |
virtual const core::ImgBase * | getIntermediateImage (const std::string &name) const throw (utils::ICLException) |
returns the intermediate image, that is associated with the given name | |
virtual core::Img8u | createMarker (const utils::Any &, const utils::Size &, const utils::ParamList &) |
interface for creating an image of a specific marker | |
Static Public Member Functions | |
static std::vector< int > | parse_list_str (const utils::Any &s) |
parses an any instance that is either an int-value, or a range or a list of int-values | |
Public Attributes | |
geom::Camera * | camera |
Camera structure for 3D feature estimation. | |
geom::CoplanarPointPoseEstimator | poseEst |
for 3D pose estimation |
Generic Interface class for FiducialDetector plugins.
initializes the plugin with a 0-camera
virtual icl::markers::FiducialDetectorPlugin::~FiducialDetectorPlugin | ( | ) | [inline, virtual] |
virtual Destructor
virtual void icl::markers::FiducialDetectorPlugin::addOrRemoveMarkers | ( | bool | add, |
const utils::Any & | which, | ||
const utils::ParamList & | params | ||
) | [pure virtual] |
defines how to load/remove marker definitions
Implemented in icl::markers::FiducialDetectorPluginForQuads, icl::markers::FiducialDetectorPluginICL1, icl::markers::FiducialDetectorPluginART, icl::markers::FiducialDetectorPluginAmoeba, icl::markers::FiducialDetectorPluginBCH, and icl::markers::FiducialDetectorPluginHierarchical.
virtual core::Img8u icl::markers::FiducialDetectorPlugin::createMarker | ( | const utils::Any & | , |
const utils::Size & | , | ||
const utils::ParamList & | |||
) | [inline, virtual] |
interface for creating an image of a specific marker
Reimplemented in icl::markers::FiducialDetectorPluginART, icl::markers::FiducialDetectorPluginICL1, and icl::markers::FiducialDetectorPluginBCH.
virtual void icl::markers::FiducialDetectorPlugin::detect | ( | std::vector< FiducialImpl * > & | dst, |
const core::Img8u & | image | ||
) | [pure virtual] |
defines how to detect markers from a given image
Implemented in icl::markers::FiducialDetectorPluginForQuads, and icl::markers::FiducialDetectorPluginHierarchical.
virtual void icl::markers::FiducialDetectorPlugin::getCenter2D | ( | utils::Point32f & | dst, |
FiducialImpl & | impl | ||
) | [virtual] |
returns how to compute the markers 2D center
note, if this information is already available in the detect method, the plugin implementation should instantiate the returned FiducialImpl instances, with this this information given. If the fiducial imple was instantiated this way, the corresponding getter method must not be reimplemented, because the Fiducial wrapper (that wraps the FiducialImpl) will simple return the already available result from the corresponding FiducialImpl's info structure
virtual void icl::markers::FiducialDetectorPlugin::getCenter3D | ( | geom::Vec & | dst, |
FiducialImpl & | impl | ||
) | [virtual] |
computes a markers 3D center
The defalut implementation uses getKeyPoints2D for planar pose estimation. If getKeyPoints is not implemented or if less than 4 key points are available, the default implementation for getCenter3D will not work Note: 3D information are usually only available if a camera was given to the parent FiducialDetector class
virtual void icl::markers::FiducialDetectorPlugin::getCorners2D | ( | std::vector< utils::Point32f > & | dst, |
FiducialImpl & | impl | ||
) | [virtual] |
returns how to compute the markers 2D corners (or significant points on its edges
The corners can also be whole line-strips, usually, these are used for visualization only
Reimplemented in icl::markers::FiducialDetectorPluginICL1, and icl::markers::FiducialDetectorPluginAmoeba.
virtual void icl::markers::FiducialDetectorPlugin::getFeatures | ( | Fiducial::FeatureSet & | dst | ) | [pure virtual] |
defines which features are supported
Implemented in icl::markers::FiducialDetectorPluginICL1, icl::markers::FiducialDetectorPluginForQuads, icl::markers::FiducialDetectorPluginAmoeba, and icl::markers::FiducialDetectorPluginHierarchical.
virtual const core::ImgBase* icl::markers::FiducialDetectorPlugin::getIntermediateImage | ( | const std::string & | name | ) | const throw (utils::ICLException) [inline, virtual] |
returns the intermediate image, that is associated with the given name
The programmer of a plugin must ensure, that an exception is thrown if the given name is not associated with an intermediate image. The parent FiducialDetectors intermediate images with names "input" and "pp" must not be checked here. But in turn, these two names must not be used for intermediate image names in the plugin implementation
Reimplemented in icl::markers::FiducialDetectorPluginForQuads.
virtual std::string icl::markers::FiducialDetectorPlugin::getIntermediateImageNames | ( | ) | const [inline, virtual] |
optionall returns a (comma separated) list of intermediate images
These images can be used for debugging purpose as well as for further processing steps. The two intermediate image names 'input' and 'pp' must not be used in the plugin implementation because these names are already in use by the parent FiducialDetector instance.
Reimplemented in icl::markers::FiducialDetectorPluginForQuads.
virtual void icl::markers::FiducialDetectorPlugin::getKeyPoints2D | ( | std::vector< Fiducial::KeyPoint > & | dst, |
FiducialImpl & | impl | ||
) | [virtual] |
returns how to compute a list of image-position/marker-position correspondences
The 2D-keypoints are the most common information that is use to compute a markers 3D information. Each keypoint defines a 2D marker location in [mm] and a corresponding image location
Reimplemented in icl::markers::FiducialDetectorPluginICL1, and icl::markers::FiducialDetectorPluginForQuads.
virtual std::string icl::markers::FiducialDetectorPlugin::getName | ( | const FiducialImpl * | impl | ) | [virtual] |
creates a human readable name for the given impl
Per default, this returns a string repesentation of the FiducialImpl's id
Reimplemented in icl::markers::FiducialDetectorPluginART.
virtual void icl::markers::FiducialDetectorPlugin::getPose3D | ( | geom::Mat & | dst, |
FiducialImpl & | impl | ||
) | [virtual] |
computes a markers 3D position and rotation euler angles
The defalut implementation uses getKeyPoints2D for planar pose estimation. If getKeyPoints is not implemented or if less than 4 key points are available, the default implementation for getCenter3D will not work Note: 3D information are usually only available if a camera was given to the parent FiducialDetector class
virtual SourceImageType icl::markers::FiducialDetectorPlugin::getPreProcessing | ( | ) | const [inline, virtual] |
returns Binary (as default)
Reimplemented in icl::markers::FiducialDetectorPluginForQuads.
virtual void icl::markers::FiducialDetectorPlugin::getRotation2D | ( | float & | dst, |
FiducialImpl & | impl | ||
) | [virtual] |
returns how to compute the markers 2D rotation
Reimplemented in icl::markers::FiducialDetectorPluginICL1, and icl::markers::FiducialDetectorPluginAmoeba.
virtual void icl::markers::FiducialDetectorPlugin::getRotation3D | ( | geom::Vec & | dst, |
FiducialImpl & | impl | ||
) | [virtual] |
computes a markers 3D rotation euler angles
The defalut implementation uses getKeyPoints2D for planar pose estimation. If getKeyPoints is not implemented or if less than 4 key points are available, the default implementation for getCenter3D will not work Note: 3D information are usually only available if a camera was given to the parent FiducialDetector class
static std::vector<int> icl::markers::FiducialDetectorPlugin::parse_list_str | ( | const utils::Any & | s | ) | [static] |
parses an any instance that is either an int-value, or a range or a list of int-values
The core::format is "int" | or "{int,int,int}" etc. or "[min,max]"
Camera structure for 3D feature estimation.
The actual camera instance is managed by the parent FiducialDetector instance
for 3D pose estimation