FiducialDetectorPlugin for quad-markers like ARToolkit and BCH-Code markers. More...

#include <FiducialDetectorPluginForQuads.h>

Inheritance diagram for icl::markers::FiducialDetectorPluginForQuads:

Public Member Functions
	~FiducialDetectorPluginForQuads ()
	Destructor. More...

virtual void	getKeyPoints2D (std::vector< Fiducial::KeyPoint > &dst, FiducialImpl &impl)
	returns how to compute a list of image-position/marker-position correspondences More...

virtual void	getFeatures (Fiducial::FeatureSet &dst)
	defines which features are supported More...

virtual void	detect (std::vector< FiducialImpl * > &dst, const core::Img8u &image)
	defines how to detect markers from a given image More...

virtual SourceImageType	getPreProcessing () const
	this plugin uses the binarisation from the internally used quad-detector More...

virtual void	addOrRemoveMarkers (bool add, const utils::Any &which, const utils::ParamList &params)=0
	loads markers ID's (also implemented in the subclasses) More...

std::string	getIntermediateImageNames () const
	this plugin provides some extra intermediate images More...

const core::ImgBase *	getIntermediateImage (const std::string &name) const
	returns the intermediate image, that is associated with the given name More...

virtual void	prepareForPatchClassification ()
	this method is called before the patch classification loop is started More...

virtual FiducialImpl *	classifyPatch (const core::Img8u &image, int *rot, bool returnRejectedQuads, cv::ImageRegion r)=0
	this method must be called in the subclasses More...

virtual void	getQuadRectificationParameters (utils::Size &markerSizeWithBorder, utils::Size &markerSizeWithoutBorder)=0
	this method is also implemented in the subclasses More...

QuadDetector &	getQuadDetector ()
	returns the internal quad-detector More...

Public Member Functions inherited from icl::markers::FiducialDetectorPlugin
	FiducialDetectorPlugin ()
	initializes the plugin with a 0-camera More...

virtual	~FiducialDetectorPlugin ()
	virtual Destructor More...

virtual void	getCenter2D (utils::Point32f &dst, FiducialImpl &impl)
	returns how to compute the markers 2D center More...

virtual void	getRotation2D (float &dst, FiducialImpl &impl)
	returns how to compute the markers 2D rotation More...

virtual void	getCorners2D (std::vector< utils::Point32f > &dst, FiducialImpl &impl)
	returns how to compute the markers 2D corners (or significant points on its edges More...

virtual void	getCenter3D (geom::Vec &dst, FiducialImpl &impl)
	computes a markers 3D center More...

virtual void	getRotation3D (geom::Vec &dst, FiducialImpl &impl)
	computes a markers 3D rotation euler angles More...

virtual void	getPose3D (geom::Mat &dst, FiducialImpl &impl)
	computes a markers 3D position and rotation euler angles More...

virtual std::string	getName (const FiducialImpl *impl)
	creates a human readable name for the given impl More...

virtual core::Img8u	createMarker (const utils::Any &, const utils::Size &, const utils::ParamList &)
	interface for creating an image of a specific marker More...

Public Member Functions inherited from icl::utils::Configurable
virtual	~Configurable ()
	virtual destructor More...

	Configurable (const Configurable &other)
	Copy constructor. More...

Configurable &	operator= (const Configurable &other)
	Assignment operator. More...

void	setConfigurableID (const std::string &ID)
	sets the ID of this configurable More...

const std::string &	getConfigurableID () const
	returns the configurables static ID More...

bool	isOrderedFlagSet () const
	returns whether the ordered flag is set More...

void	deactivateProperty (const std::string &pattern)
	adds an additional deativation pattern More...

void	deleteDeactivationPattern (const std::string &pattern)
	removed a formerly added deactivation pattern More...

std::vector< std::string >	getPropertyListWithoutDeactivated () const
	this returns a filtered list of properties (using all filters added by deactivateProperty) More...

virtual void	adaptProperty (const std::string &name, const std::string &newType, const std::string &newInfo, const std::string &newToolTip)
	this function can be used to adapt a specific property afterwards More...

void	registerCallback (const Callback &cb)
	add a callback for changed properties More...

void	removedCallback (const Callback &cb)
	removes a callback that was registered before More...

void	syncChangesTo (Configurable *others, int num=1)
	this can be used to let this instance also apply property changes to others More...

virtual void	setPropertyValue (const std::string &propertyName, const Any &value)
	sets a property value More...

virtual std::vector< std::string >	getPropertyList () const
	returns a list of All properties, that can be set using setProperty More...

virtual bool	supportsProperty (const std::string &propertyName) const
	base implementation for property check (seaches in the property list) More...

virtual void	saveProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC) const
	writes all available properties into a file More...

virtual void	loadProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC)
	reads a camera config file from disc More...

virtual std::string	getPropertyType (const std::string &propertyName) const
	get type of property More...

virtual std::string	getPropertyInfo (const std::string &propertyName) const
	get information of a properties valid values More...

virtual Any	getPropertyValue (const std::string &propertyName) const
	returns the current value of a property or a parameter More...

virtual std::string	getPropertyToolTip (const std::string &propertyName) const
	returns the tooltip description for a given property More...

virtual int	getPropertyVolatileness (const std::string &propertyName) const
	Returns whether this property may be changed internally. More...

Protected Member Functions
	FiducialDetectorPluginForQuads ()
	only the FiducialDetector can instantiate this class More...

Protected Member Functions inherited from icl::utils::Configurable
void	addProperty (const std::string &name, const std::string &type, const std::string &info, const Any &value=Any(), const int volatileness=0, const std::string &tooltip=std::string())
	This can be used by derived classes to store supported properties in the internal list. More...

void	addChildConfigurable (Configurable *configurable, const std::string &childPrefix="")
	This adds another configurable as child. More...

void	removeChildConfigurable (Configurable *configurable)
	removes the given child configurable More...

Property &	prop (const std::string &propertyName)
	this CAN be used e.g. to store a property value in internal property-list More...

const Property &	prop (const std::string &propertyName) const
	this CAN be used e.g. to store a property value in internal property-list More...

	Configurable (const std::string &ID="", bool ordered=true)
	create this configurable with given ID More...

void	call_callbacks (const std::string &propertyName, const Configurable *caller) const
	calls all registered callbacks More...

Private Attributes
Data *	data
	Internal data pointer. More...

Friends
class	icl::markers::FiducialDetector
	This class cannot be used. More...

Additional Inherited Members
Public Types inherited from icl::markers::FiducialDetectorPlugin
enum	SourceImageType { Binary, Gray, Color }
	Enumeration for differnt source image types. More...

Public Types inherited from icl::utils::Configurable
typedef Function< void, const Property & >	Callback
	Function type for changed properties. More...

Static Public Member Functions inherited from icl::markers::FiducialDetectorPlugin
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 More...

Static Public Member Functions inherited from icl::utils::Configurable
static std::string	create_default_ID (const std::string &prefix)
	this function can be used in subclasses to create a default ID More...

static Configurable *	get (const std::string &id)
	returns configurable by given ID More...

static void	register_configurable_type (const std::string &classname, Function< Configurable * > creator)
	registers a configurable type More...

static std::vector< std::string >	get_registered_configurables ()
	returns a list of all registered configurable classnames More...

static Configurable *	create_configurable (const std::string &classname)
	creates a configurable by given name More...

Public Attributes inherited from icl::markers::FiducialDetectorPlugin
geom::Camera *	camera
	Camera structure for 3D feature estimation. More...

geom::CoplanarPointPoseEstimator	poseEst
	for 3D pose estimation More...

Static Public Attributes inherited from icl::utils::Configurable
static const std::vector< std::string >	EMPTY_VEC
	used as shortcut – just an empty vector of std::strings More...

Protected Attributes inherited from icl::utils::Configurable
std::vector< Callback >	callbacks
	internally managed list of callbacks More...

Detailed Description

FiducialDetectorPlugin for quad-markers like ARToolkit and BCH-Code markers.

Constructor & Destructor Documentation

◆ FiducialDetectorPluginForQuads()

icl::markers::FiducialDetectorPluginForQuads::FiducialDetectorPluginForQuads ( )

protected

only the FiducialDetector can instantiate this class

◆ ~FiducialDetectorPluginForQuads()

icl::markers::FiducialDetectorPluginForQuads::~FiducialDetectorPluginForQuads ( )

Destructor.

Member Function Documentation

◆ addOrRemoveMarkers()

virtual void icl::markers::FiducialDetectorPluginForQuads::addOrRemoveMarkers	(	bool	add,
		const utils::Any &	which,
		const utils::ParamList &	params
	)

pure virtual

loads markers ID's (also implemented in the subclasses)

Parameters

add
which	this any instance can be ... of type int (then, only the corresponding marker ID is loaded) of type utils::Range32s "[a,b]", (then all markers within the range are loaded) of something like {a,b,c,d,...} then all marker IDs in the list are loaded

Please note that other types might be interpreted in the wrong way. Mandatory parameter is "size". Please refer to the documentation of icl::markers::FiducialDetector::loadMarkers for more details

Parameters

params

Implements icl::markers::FiducialDetectorPlugin.

Implemented in icl::markers::FiducialDetectorPluginART, and icl::markers::FiducialDetectorPluginBCH.

◆ classifyPatch()

virtual FiducialImpl* icl::markers::FiducialDetectorPluginForQuads::classifyPatch	(	const core::Img8u &	image,
		int *	rot,
		bool	returnRejectedQuads,
		cv::ImageRegion	r
	)

pure virtual

this method must be called in the subclasses

Implemented in icl::markers::FiducialDetectorPluginART, and icl::markers::FiducialDetectorPluginBCH.

◆ detect()

virtual void icl::markers::FiducialDetectorPluginForQuads::detect	(	std::vector< FiducialImpl * > &	dst,
		const core::Img8u &	image
	)

virtual

defines how to detect markers from a given image

Implements icl::markers::FiducialDetectorPlugin.

◆ getFeatures()

virtual void icl::markers::FiducialDetectorPluginForQuads::getFeatures ( Fiducial::FeatureSet & dst )

virtual

defines which features are supported

Implements icl::markers::FiducialDetectorPlugin.

◆ getIntermediateImage()

const core::ImgBase* icl::markers::FiducialDetectorPluginForQuads::getIntermediateImage ( const std::string & name ) const

virtual

returns the intermediate image, that is associated with the given name

See also: getIntermediateImageNames for more details

Reimplemented from icl::markers::FiducialDetectorPlugin.

◆ getIntermediateImageNames()

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

virtual

this plugin provides some extra intermediate images

Reimplemented from icl::markers::FiducialDetectorPlugin.

◆ getKeyPoints2D()

virtual void icl::markers::FiducialDetectorPluginForQuads::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 from icl::markers::FiducialDetectorPlugin.

◆ getPreProcessing()

virtual SourceImageType icl::markers::FiducialDetectorPluginForQuads::getPreProcessing ( ) const

inlinevirtual

this plugin uses the binarisation from the internally used quad-detector

Reimplemented from icl::markers::FiducialDetectorPlugin.

◆ getQuadDetector()

QuadDetector& icl::markers::FiducialDetectorPluginForQuads::getQuadDetector ( )

returns the internal quad-detector

◆ getQuadRectificationParameters()

virtual void icl::markers::FiducialDetectorPluginForQuads::getQuadRectificationParameters	(	utils::Size &	markerSizeWithBorder,
		utils::Size &	markerSizeWithoutBorder
	)

pure virtual

this method is also implemented in the subclasses

The method describes the parameters for the marker rectification

Implemented in icl::markers::FiducialDetectorPluginART, and icl::markers::FiducialDetectorPluginBCH.

◆ prepareForPatchClassification()

virtual void icl::markers::FiducialDetectorPluginForQuads::prepareForPatchClassification ( )

inlinevirtual

this method is called before the patch classification loop is started

this function can be used to avoid property extraction at runtime. Usually, a certain implementation can read out and store all property values that are used in classify patch once in a whole image processing cylce

Reimplemented in icl::markers::FiducialDetectorPluginBCH.

Friends And Related Function Documentation

◆ icl::markers::FiducialDetector

friend class icl::markers::FiducialDetector

friend

This class cannot be used.

Member Data Documentation

◆ data

Data* icl::markers::FiducialDetectorPluginForQuads::data

private

Internal data pointer.

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

/Users/alneuman/vm/icl/ICLMarkers/src/ICLMarkers/FiducialDetectorPluginForQuads.h

Public Member Functions

Protected Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FiducialDetectorPluginForQuads()

◆ ~FiducialDetectorPluginForQuads()

Member Function Documentation

◆ addOrRemoveMarkers()

◆ classifyPatch()

◆ detect()

◆ getFeatures()

◆ getIntermediateImage()

◆ getIntermediateImageNames()

◆ getKeyPoints2D()

◆ getPreProcessing()

◆ getQuadDetector()

◆ getQuadRectificationParameters()

◆ prepareForPatchClassification()

Friends And Related Function Documentation

◆ icl::markers::FiducialDetector

Member Data Documentation

◆ data