Pose tracker that tracks pose using feducial markers. More...

#include <ArucoPoseTracker.hh>

Inheritance diagram for gramods::gmTrack::ArucoPoseTracker:

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Collaboration diagram for gramods::gmTrack::ArucoPoseTracker:

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Classes
struct	Impl

Public Member Functions
void	update (gmCore::Updateable::clock::time_point time, size_t frame)
	Updates the animation.

void	addArucoBoard (std::shared_ptr< ArucoBoard > board)
	Add an ArucoBoard to track.

void	setVideoSource (std::shared_ptr< OpenCvVideoCapture > vs)
	Set the video source to read images from.

void	setInverted (bool on)
	If set to true the pose tracker will estimate the camera pose relative the markers.

void	setShowDebug (bool on)
	Set to true to activate debug graphics.

void	setRefindMarkers (bool on)
	Set to true if markers that were not found should be detected based on the information from found markers.

void	setCameraConfigurationFile (std::filesystem::path file)
	Sets the (cv::FileStorage) file to read camera parameters from.

bool	getPose (std::map< int, PoseSample > &p) override
	Replaces the contents of p with pose data.

void	traverse (Visitor *visitor) override
	Propagates the specified visitor.

Public Member Functions inherited from gramods::gmTrack::MultiPoseTracker
virtual std::string	getDefaultKey () override
	Returns the default key, in Configuration, for the Object.

Public Member Functions inherited from gramods::gmCore::Object
	Object ()
	Initializes internal data.

virtual	~Object ()
	Cleaning up internal data.

virtual void	initialize ()
	Called to initialize the Object.

virtual void	accept (Visitor *visitor)
	Calls the visitors apply method with this as argument.

bool	isInitialized ()
	Returns true if the Object is initialized.

Public Member Functions inherited from gramods::gmCore::Updateable
	Updateable (int priority=0)
	Configures the Updateable properties to the specified priority.

virtual void	update (clock::time_point t, size_t frame)=0
	Called by updateAll to make the object up-to-date.

Static Public Attributes
static gramods::gmCore::OFactory::OFactoryInformation	_gm_ofi

Additional Inherited Members
Public Types inherited from gramods::gmTrack::PoseTracker
typedef std::chrono::steady_clock	clock

Public Types inherited from gramods::gmCore::Updateable
typedef std::chrono::steady_clock	clock

Static Public Member Functions inherited from gramods::gmCore::Updateable
static void	updateAll (clock::time_point t=clock::now(), std::optional< size_t > frame=std::nullopt)
	Updates all currently instanciated updateable objects.

Detailed Description

Pose tracker that tracks pose using feducial markers.

This class configures as an Updateable with a priority of

Either Updateable::updateAll or update must be called at even intervals. This is done automatically by gm-load.

Member Function Documentation

◆ addArucoBoard()

void gramods::gmTrack::ArucoPoseTracker::addArucoBoard ( std::shared_ptr< ArucoBoard > board )

Add an ArucoBoard to track.

XML-attribute: arucoBoard

◆ getPose()

bool gramods::gmTrack::ArucoPoseTracker::getPose ( std::map< int, PoseSample > & p )

overridevirtual

Replaces the contents of p with pose data.

Implements gramods::gmTrack::MultiPoseTracker.

◆ setCameraConfigurationFile()

void gramods::gmTrack::ArucoPoseTracker::setCameraConfigurationFile ( std::filesystem::path file )

Sets the (cv::FileStorage) file to read camera parameters from.

XML-attribute: cameraConfigurationFile

◆ setInverted()

void gramods::gmTrack::ArucoPoseTracker::setInverted ( bool on )

If set to true the pose tracker will estimate the camera pose relative the markers.

When false the markers' poses are estimated. Default is false.

XML-attribute: inverted

◆ setRefindMarkers()

void gramods::gmTrack::ArucoPoseTracker::setRefindMarkers ( bool on )

Set to true if markers that were not found should be detected based on the information from found markers.

Default: false.

XML-attribute: refindMarkers

◆ setShowDebug()

void gramods::gmTrack::ArucoPoseTracker::setShowDebug ( bool on )

Set to true to activate debug graphics.

When true an OpenCV window will open showing marker detection and coordinate axes for the detected board.

XML-attribute: showDebug

◆ setVideoSource()

void gramods::gmTrack::ArucoPoseTracker::setVideoSource ( std::shared_ptr< OpenCvVideoCapture > vs )

Set the video source to read images from.

XML-attribute: videoSource

◆ traverse()

void gramods::gmTrack::ArucoPoseTracker::traverse ( Visitor * visitor )

overridevirtual

Propagates the specified visitor.

See also: Object::Visitor

Reimplemented from gramods::gmCore::Object.

◆ update()

void gramods::gmTrack::ArucoPoseTracker::update	(	gmCore::Updateable::clock::time_point	time,
		size_t	frame
	)

Updates the animation.

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

/home/karlu/private/program/gramods/modules/gmTrack/include/gmTrack/ArucoPoseTracker.hh
/home/karlu/private/program/gramods/modules/gmTrack/src/ArucoPoseTracker.cpp

Classes

Public Member Functions

Static Public Attributes

Additional Inherited Members