double MultiMarkerFiltered::_Update(MarkerIterator &begin, MarkerIterator &end,
Camera* cam, Pose& pose, IplImage* image)
{
if (_GetPose(begin, end, cam, pose, NULL) == -1) return -1;
// For every detected marker
for (MarkerIterator &i = begin.reset(); i != end; ++i)
{
const Marker* marker = *i;
int id = marker->GetId();
int index = get_id_index(id);
if (index < 0) continue;
// Initialize marker pose
if (marker_status[index] == 0)
{
double cam_posed[16];
double mar_posed[16];
CvMat cam_mat = cvMat(4, 4, CV_64F, cam_posed);
CvMat mar_mat = cvMat(4, 4, CV_64F, mar_posed);
pose.GetMatrix(&cam_mat);
marker->pose.GetMatrix(&mar_mat);
cvInvert(&cam_mat, &cam_mat);
cvMatMul(&cam_mat, &mar_mat, &mar_mat);
Pose p;
p.SetMatrix(&mar_mat);
PointCloudAverage(id, marker->GetMarkerEdgeLength(), p);
}
}
// When the pointcloud is updated we will get the new "better" pose...
return _GetPose(begin, end, cam, pose, image);
}
