Generic Interface class for FiducialDetector plugins. More...

#include <FiducialDetectorPlugin.h>

Inheritance diagram for icl::markers::FiducialDetectorPlugin:

Public Types
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...

Public Member Functions
	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	getKeyPoints2D (std::vector< Fiducial::KeyPoint > &dst, FiducialImpl &impl)
	returns how to compute a list of image-position/marker-position correspondences 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 SourceImageType	getPreProcessing () const
	returns Binary (as default) More...

virtual void	getFeatures (Fiducial::FeatureSet &dst)=0
	defines which features are supported More...

virtual void	detect (std::vector< FiducialImpl * > &dst, const core::Img8u &image)=0
	defines how to detect markers from a given image More...

virtual void	addOrRemoveMarkers (bool add, const utils::Any &which, const utils::ParamList &params)=0
	defines how to load/remove marker definitions More...

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

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

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

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 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
geom::Camera *	camera
	Camera structure for 3D feature estimation. More...

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

Additional Inherited Members
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

Generic Interface class for FiducialDetector plugins.

Member Enumeration Documentation

◆ SourceImageType

enum icl::markers::FiducialDetectorPlugin::SourceImageType

Enumeration for differnt source image types.

Enumerator
Binary	detect must be called with an already binarized image (default)
Gray	detect must be called with gray scale image
Color	detect must be called with color image

Constructor & Destructor Documentation

◆ FiducialDetectorPlugin()

icl::markers::FiducialDetectorPlugin::FiducialDetectorPlugin ( )

initializes the plugin with a 0-camera

◆ ~FiducialDetectorPlugin()

virtual icl::markers::FiducialDetectorPlugin::~FiducialDetectorPlugin ( )

inlinevirtual

virtual Destructor

Member Function Documentation

◆ addOrRemoveMarkers()

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.

◆ createMarker()

virtual core::Img8u icl::markers::FiducialDetectorPlugin::createMarker	(	const utils::Any &	,
		const utils::Size &	,
		const utils::ParamList &
	)

inlinevirtual

interface for creating an image of a specific marker

Reimplemented in icl::markers::FiducialDetectorPluginART, icl::markers::FiducialDetectorPluginICL1, and icl::markers::FiducialDetectorPluginBCH.

◆ detect()

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.

◆ getCenter2D()

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

◆ getCenter3D()

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

◆ getCorners2D()

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.

◆ getFeatures()

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.

◆ getIntermediateImage()

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

inlinevirtual

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.

◆ getIntermediateImageNames()

virtual std::string icl::markers::FiducialDetectorPlugin::getIntermediateImageNames ( ) const

inlinevirtual

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.

◆ getKeyPoints2D()

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.

◆ getName()

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.

◆ getPose3D()

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

◆ getPreProcessing()

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

inlinevirtual

returns Binary (as default)

Reimplemented in icl::markers::FiducialDetectorPluginForQuads.

◆ getRotation2D()

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.

◆ getRotation3D()

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

◆ parse_list_str()

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]"

Member Data Documentation

◆ camera

geom::Camera* icl::markers::FiducialDetectorPlugin::camera

Camera structure for 3D feature estimation.

The actual camera instance is managed by the parent FiducialDetector instance

◆ poseEst

geom::CoplanarPointPoseEstimator icl::markers::FiducialDetectorPlugin::poseEst

for 3D pose estimation

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

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ SourceImageType

Constructor & Destructor Documentation

◆ FiducialDetectorPlugin()

◆ ~FiducialDetectorPlugin()

Member Function Documentation

◆ addOrRemoveMarkers()

◆ createMarker()

◆ detect()

◆ getCenter2D()

◆ getCenter3D()

◆ getCorners2D()

◆ getFeatures()

◆ getIntermediateImage()

◆ getIntermediateImageNames()

◆ getKeyPoints2D()

◆ getName()

◆ getPose3D()

◆ getPreProcessing()

◆ getRotation2D()

◆ getRotation3D()

◆ parse_list_str()

Member Data Documentation

◆ camera

◆ poseEst