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 More...

	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)
	creates an initialized instance with given parameters More...

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)
	(re-)initializes the detector with given parameters More...

const std::vector< MultiCamFiducial > &	detect (const std::vector< const core::ImgBase * > &images, int minCamsFound=1)
	detects fiducials in all images and returns the combined results More...

int	getNumCameras () const
	returns the internal number of cameras More...

const FiducialDetector &	getFiducialDetector (int idx) const
	returns the internal 2D FiducialDetector at given camera index More...

FiducialDetector &	getFiducialDetector (int idx)
	returns the internal 2D FiducialDetector at given camera index (const) More...

void	loadMarkers (const utils::Any &which, const utils::ParamList &params)
	loads additional markers (passed to all 2D detectors) More...

void	unloadMarkers (const utils::Any &which)
	unloads markers (passed to all 2D detectors) More...

std::string	getIntermediateImageNames () const
	provides a comma separated list of intermediate images More...

const core::ImgBase *	getIntermediateImage (const std::string &name) const
	returns a named intermeted image 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...

Static Public Member Functions
static int	getCameraIDFromIntermediteImageName (const std::string &name)
	extract the current camera from the given intermediate image name 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...

Private Member Functions
void	property_callback (const Property &p)
	internally used property callback More...

Private Attributes
Data *	m_data
	internal data structure More...

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

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

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.

Constructor & Destructor Documentation

◆ MultiCamFiducialDetector() [1/2]

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

creates an uninitialized instance

◆ MultiCamFiducialDetector() [2/2]

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`
	)

creates an initialized instance with given parameters

See also: MultiCamFiducialDetector::init

Member Function Documentation

◆ detect()

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

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

◆ getCameraIDFromIntermediteImageName()

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

static

extract the current camera from the given intermediate image name

◆ getFiducialDetector() [1/2]

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

returns the internal 2D FiducialDetector at given camera index

◆ getFiducialDetector() [2/2]

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

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

◆ getIntermediateImage()

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

returns a named intermeted image

◆ getIntermediateImageNames()

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();

◆ getNumCameras()

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

returns the internal number of cameras

◆ init()

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`
	)

(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()

◆ loadMarkers()

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

loads additional markers (passed to all 2D detectors)

◆ property_callback()

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

private

internally used property callback

◆ unloadMarkers()

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

unloads markers (passed to all 2D detectors)

Member Data Documentation

◆ m_data

Data* icl::markers::MultiCamFiducialDetector::m_data