TrackAruco.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_CORE_TRACK_ARUCO_H
#define OV_CORE_TRACK_ARUCO_H

#if ENABLE_ARUCO_TAGS
#include <opencv2/aruco.hpp>
#endif

#include "TrackBase.h"

namespace ov_core {

class TrackAruco : public TrackBase {

public:
  explicit TrackAruco(std::unordered_map<size_t, std::shared_ptr<CamBase>> cameras, int numaruco, bool stereo, HistogramMethod histmethod,
                      bool downsize)
      : TrackBase(cameras, 0, numaruco, stereo, histmethod), max_tag_id(numaruco), do_downsizing(downsize) {
#if ENABLE_ARUCO_TAGS
    aruco_dict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_1000);
    aruco_params = cv::aruco::DetectorParameters::create();
    // NOTE: people with newer opencv might fail here
    // aruco_params->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX;
#else
    PRINT_ERROR(RED "[ERROR]: you have not compiled with aruco tag support!!!\n" RESET);
    std::exit(EXIT_FAILURE);
#endif
  }

  void feed_new_camera(const CameraData &message) override;

#if ENABLE_ARUCO_TAGS

  void display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2, std::string overlay = "") override;
#endif

protected:
#if ENABLE_ARUCO_TAGS

  void perform_tracking(double timestamp, const cv::Mat &imgin, size_t cam_id, const cv::Mat &maskin);
#endif

  // Max tag ID we should extract from (i.e., number of aruco tags starting from zero)
  int max_tag_id;

  // If we should downsize the image
  bool do_downsizing;

#if ENABLE_ARUCO_TAGS
  // Our dictionary that we will extract aruco tags with
  cv::Ptr<cv::aruco::Dictionary> aruco_dict;

  // Parameters the opencv extractor uses
  cv::Ptr<cv::aruco::DetectorParameters> aruco_params;

  // Our tag IDs and corner we will get from the extractor
  std::unordered_map<size_t, std::vector<int>> ids_aruco;
  std::unordered_map<size_t, std::vector<std::vector<cv::Point2f>>> corners, rejects;
#endif
};

} // namespace ov_core

#endif /* OV_CORE_TRACK_ARUCO_H */