Fiducial Type for the MuliCamFiducialDetector. More...

#include <MultiCamFiducial.h>

Public Member Functions
	MultiCamFiducial (MultiCamFiducialImpl *impl=0)
	Constructor. More...

bool	isNull () const
	returns whether this is null-instance More...

int	getCamsFound () const
	returns the number of cameras this fiducial was actually detected in More...

Fiducial	operator[] (int idx)
	returns the underlying 2D fiducial detection result More...

const Fiducial	operator[] (int idx) const
	returns the underlying 2D fiducial detection retult (const version) More...

geom::Camera &	getCamera (int idx)
	returns the idx-th associated camera More...

const geom::Camera &	getCamera (int idx) const
	returns the idx-th associated camera (const version) More...

int	getID () const
	returns the associated marker ID More...

const math::FixedColVector< float, 3 > &	getCenter3D () const
	returns the 3D center of the marker More...

const math::FixedColVector< float, 3 > &	getOrientation3D () const
	returns the 3D orientation of the marker More...

const geom::Mat &	getPose3D () const
	returns the 6D-pose (in shape of a homogeneous transform) of the marker More...

Private Attributes
MultiCamFiducialImpl *	impl
	internal implementation More...

Detailed Description

Fiducial Type for the MuliCamFiducialDetector.

MultiCamFiducials provide much more robust 3D information if they a constructed from several camera views

The MultiCamFiducialDetector provides a generic interface to detect fiducials in a set of camera views

Constructor & Destructor Documentation

◆ MultiCamFiducial()

icl::markers::MultiCamFiducial::MultiCamFiducial ( MultiCamFiducialImpl * impl = 0 )

inline

Constructor.

Member Function Documentation

◆ getCamera() [1/2]

geom::Camera& icl::markers::MultiCamFiducial::getCamera ( int idx )

returns the idx-th associated camera

Note, the camera can also be accessed from the idx-th Fiducial

◆ getCamera() [2/2]

const geom::Camera& icl::markers::MultiCamFiducial::getCamera ( int idx ) const

returns the idx-th associated camera (const version)

◆ getCamsFound()

int icl::markers::MultiCamFiducial::getCamsFound ( ) const

returns the number of cameras this fiducial was actually detected in

The number of cameras can be a good indicator for the accuracy of the 3D position returned by getCenter3D(), getOrientation3D() and getPose3D()

◆ getCenter3D()

const math::FixedColVector<float,3>& icl::markers::MultiCamFiducial::getCenter3D ( ) const

returns the 3D center of the marker

See also: 3D_EST

◆ getID()

int icl::markers::MultiCamFiducial::getID ( ) const

returns the associated marker ID

◆ getOrientation3D()

const math::FixedColVector<float,3>& icl::markers::MultiCamFiducial::getOrientation3D ( ) const

returns the 3D orientation of the marker

See also: 3D_EST

◆ getPose3D()

const geom::Mat& icl::markers::MultiCamFiducial::getPose3D ( ) const

returns the 6D-pose (in shape of a homogeneous transform) of the marker

See also: 3D_EST

◆ isNull()

bool icl::markers::MultiCamFiducial::isNull ( ) const

inline

returns whether this is null-instance

◆ operator[]() [1/2]

Fiducial icl::markers::MultiCamFiducial::operator[] ( int idx )

returns the underlying 2D fiducial detection result

valid indices are [0,getCamsFound()-1]

◆ operator[]() [2/2]

const Fiducial icl::markers::MultiCamFiducial::operator[] ( int idx ) const

returns the underlying 2D fiducial detection retult (const version)

Member Data Documentation

◆ impl

MultiCamFiducialImpl* icl::markers::MultiCamFiducial::impl

private

internal implementation

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

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

Public Member Functions

Private Attributes