MarkerData Class Reference
Marker shapes, described by a single point in space. More...
#include <MarkerData.h>
Detailed Description
Marker shapes, described by a single point in space.
Definition at line 29 of file MarkerData.h.
Public Member Functions | |
| MarkerData (ShapeSpace &_space, const Point ¢er, const rgb rgbvalue=rgb()) | |
| Constructor. | |
| MarkerType_t | getMarkerType () const |
| DATASTUFF_H (MarkerData) | |
| virtual Point | getCentroid () const |
| return the centroid of the shape in point format | |
| virtual void | printParams () const |
| Print information about this shape. | |
| virtual void | applyTransform (const fmat::Transform &Tmat, const ReferenceFrameType_t newref=unspecified) |
| Transformations. (Virtual in BaseData.). | |
| virtual void | projectToGround (const fmat::Transform &camToBase, const PlaneEquation &groundplane) |
| Project to ground. | |
| virtual void | update_derived_properties () |
| Update derived properties. | |
| virtual bool | isMatchFor (const ShapeRoot &other) const |
| Match blobs based on their parameters. (Virtual in BaseData.). | |
| virtual bool | updateParams (const ShapeRoot &other, bool forceUpdate=false) |
| Update parameters given matching shape (for merging in mapping). | |
| virtual bool | isMatchingMarker (const Shape< MarkerData > &other) const |
| Test for marker with matching features. | |
| virtual bool | localizeByCamera () const |
| virtual unsigned short | getDimension () const |
| virtual std::string | getMarkerDescription () const |
| Return the string description for this marker (used to display marker specific information). | |
Static Public Member Functions | |
| static ShapeType_t | getStaticType () |
| static std::string | getMarkerTypeName (MarkerType_t type) |
| Get the name for a given marker type. | |
| static MarkerType_t | registerMarkerType (std::string markerTypeName, MarkerExtractFn_t extractor) |
| static std::vector< Shape < MarkerData > > | extractMarkers (const Sketch< uchar > &sketch, MarkerType_t type, const MapBuilderRequest &req) |
| Extract markers of type from sketch. | |
| static std::vector< Shape < MarkerData > > | extractMarkers (const Sketch< uchar > &sketch, const MapBuilderRequest &req) |
| Extract markers of all registered types from sketch. | |
| static void | calculateCameraDistance (Point &p, const float height) |
| Set the z-coordinate (distance from the camera) for a pixel, assuming we know the object's height above the ground plane. | |
| static const std::set < MarkerType_t > | allMarkerTypes () |
| Return set of all known marker types; used for general-purpose localization code. | |
Public Attributes | |
| Point | center |
| center (centroid) of marker in coordinate frame. In image frame this is abused to store (pixel_x,pixel_y,distance). | |
| MarkerType_t | typeOfMarker |
| The type of marker this is. | |
Static Public Attributes | |
| static const MarkerType_t | unknownMarkerType = "unknownMarkerType" |
Private Member Functions | |
| virtual Sketch< bool > * | render () const |
| Render into a sketch space and return reference. (Private.). | |
| MarkerData & | operator= (const MarkerData &) |
| don't call | |
Static Private Member Functions | |
| static std::map< MarkerType_t, MarkerExtractFn_t > & | getExtractorMap () |
| Map for marker extraction dispatch. | |
Friends | |
| class | Shape< MarkerData > |
Constructor & Destructor Documentation
| MarkerData | ( | ShapeSpace & | _space, | |
| const Point & | center, | |||
| const rgb | rgbvalue = rgb() | |||
| ) |
Constructor.
Definition at line 31 of file MarkerData.cc.
Member Function Documentation
| const std::set< MarkerType_t > allMarkerTypes | ( | ) | [static] |
Return set of all known marker types; used for general-purpose localization code.
Definition at line 228 of file MarkerData.cc.
| void applyTransform | ( | const fmat::Transform & | Tmat, | |
| const ReferenceFrameType_t | newref = unspecified | |||
| ) | [virtual] |
Transformations. (Virtual in BaseData.).
Implements BaseData.
Definition at line 80 of file MarkerData.cc.
Set the z-coordinate (distance from the camera) for a pixel, assuming we know the object's height above the ground plane.
Definition at line 178 of file MarkerData.cc.
Referenced by BiColorMarkerData::extractMarkers(), and AprilTagData::projectToGround().
| DATASTUFF_H | ( | MarkerData | ) |
| vector< Shape< MarkerData > > extractMarkers | ( | const Sketch< uchar > & | sketch, | |
| const MapBuilderRequest & | req | |||
| ) | [static] |
Extract markers of all registered types from sketch.
Reimplemented in BiColorMarkerData.
Definition at line 168 of file MarkerData.cc.
| vector< Shape< MarkerData > > extractMarkers | ( | const Sketch< uchar > & | sketch, | |
| MarkerType_t | type, | |||
| const MapBuilderRequest & | req | |||
| ) | [static] |
Extract markers of type from sketch.
Definition at line 156 of file MarkerData.cc.
| Point getCentroid | ( | ) | const [virtual] |
return the centroid of the shape in point format
Implements BaseData.
Definition at line 39 of file MarkerData.cc.
Referenced by BiColorMarkerData::getMarkerDescription().
| virtual unsigned short getDimension | ( | ) | const [virtual] |
Implements BaseData.
Definition at line 80 of file MarkerData.h.
| std::map< MarkerType_t, MarkerExtractFn_t > & getExtractorMap | ( | ) | [static, private] |
Map for marker extraction dispatch.
Definition at line 223 of file MarkerData.cc.
Referenced by MarkerData::allMarkerTypes(), MarkerData::extractMarkers(), and MarkerData::registerMarkerType().
| string getMarkerDescription | ( | ) | const [virtual] |
Return the string description for this marker (used to display marker specific information).
Reimplemented in BiColorMarkerData.
Definition at line 152 of file MarkerData.cc.
| MarkerType_t getMarkerType | ( | ) | const |
Definition at line 44 of file MarkerData.h.
| string getMarkerTypeName | ( | MarkerType_t | type | ) | [static] |
Get the name for a given marker type.
Definition at line 154 of file MarkerData.cc.
Referenced by ShapeSpace::getShapeListForGUI().
| static ShapeType_t getStaticType | ( | ) | [static] |
Definition at line 42 of file MarkerData.h.
Match blobs based on their parameters. (Virtual in BaseData.).
Implements BaseData.
Definition at line 108 of file MarkerData.cc.
| bool isMatchingMarker | ( | const Shape< MarkerData > & | other | ) | const [virtual] |
Test for marker with matching features.
Unlike isMatchFor, does not consider positions, should just compare things like colors or other marker-specific features.
Reimplemented in BiColorMarkerData.
Definition at line 140 of file MarkerData.cc.
Referenced by MarkerData::isMatchFor().
| virtual bool localizeByCamera | ( | ) | const [virtual] |
Reimplemented from BaseData.
Definition at line 78 of file MarkerData.h.
| MarkerData& operator= | ( | const MarkerData & | ) | [private] |
don't call
| void printParams | ( | ) | const [virtual] |
Print information about this shape.
Implements BaseData.
Reimplemented in BiColorMarkerData.
Definition at line 43 of file MarkerData.cc.
| void projectToGround | ( | const fmat::Transform & | camToBase, | |
| const PlaneEquation & | groundplane | |||
| ) | [virtual] |
| MarkerType_t registerMarkerType | ( | std::string | markerTypeName, | |
| MarkerExtractFn_t | extractor | |||
| ) | [static] |
Definition at line 215 of file MarkerData.cc.
Render into a sketch space and return reference. (Private.).
Implements BaseData.
Definition at line 50 of file MarkerData.cc.
| void update_derived_properties | ( | ) | [virtual] |
Update derived properties.
Definition at line 106 of file MarkerData.cc.
Referenced by MarkerData::updateParams().
Update parameters given matching shape (for merging in mapping).
Implements BaseData.
Definition at line 122 of file MarkerData.cc.
Friends And Related Function Documentation
friend class Shape< MarkerData > [friend] |
Definition at line 48 of file MarkerData.h.
Member Data Documentation
center (centroid) of marker in coordinate frame. In image frame this is abused to store (pixel_x,pixel_y,distance).
Definition at line 32 of file MarkerData.h.
Referenced by MarkerData::applyTransform(), BiColorMarkerData::extractMarkers(), MarkerData::getCentroid(), MarkerData::isMatchFor(), MarkerData::printParams(), BiColorMarkerData::printParams(), MarkerData::projectToGround(), MarkerData::render(), and MarkerData::updateParams().
The type of marker this is.
Definition at line 34 of file MarkerData.h.
Referenced by BiColorMarkerData::BiColorMarkerData(), MarkerData::getMarkerType(), MarkerData::isMatchingMarker(), and BiColorMarkerData::isMatchingMarker().
const MarkerType_t unknownMarkerType = "unknownMarkerType" [static] |
Definition at line 36 of file MarkerData.h.
The documentation for this class was generated from the following files:
