Tracking of OpenCV Aruoc tags. More...

#include <TrackAruco.h>

Inheritance diagram for ov_core::TrackAruco:

Public Member Functions
void	feed_new_camera (const CameraData &message) override
	Process a new image. More...

	TrackAruco (std::unordered_map< size_t, std::shared_ptr< CamBase >> cameras, int numaruco, bool stereo, HistogramMethod histmethod, bool downsize)
	Public constructor with configuration variables. More...

Public Member Functions inherited from ov_core::TrackBase
void	change_feat_id (size_t id_old, size_t id_new)
	Changes the ID of an actively tracked feature to another one. More...

virtual void	display_active (cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2, std::string overlay="")
	Shows features extracted in the last image. More...

virtual void	display_history (cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2, std::vector< size_t > highlighted={}, std::string overlay="")
	Shows a "trail" for each feature (i.e. its history) More...

std::shared_ptr< FeatureDatabase >	get_feature_database ()
	Get the feature database with all the track information. More...

std::unordered_map< size_t, std::vector< size_t > >	get_last_ids ()
	Getter method for active features in the last frame (ids per camera) More...

std::unordered_map< size_t, std::vector< cv::KeyPoint > >	get_last_obs ()
	Getter method for active features in the last frame (observations per camera) More...

int	get_num_features ()
	Getter method for number of active features. More...

void	set_num_features (int _num_features)
	Setter method for number of active features. More...

	TrackBase (std::unordered_map< size_t, std::shared_ptr< CamBase >> cameras, int numfeats, int numaruco, bool stereo, HistogramMethod histmethod)
	Public constructor with configuration variables. More...

virtual	~TrackBase ()

Protected Attributes
bool	do_downsizing

int	max_tag_id

Protected Attributes inherited from ov_core::TrackBase
std::unordered_map< size_t, std::shared_ptr< CamBase > >	camera_calib
	Camera object which has all calibration in it. More...

std::map< size_t, bool >	camera_fisheye
	If we are a fisheye model or not. More...

std::atomic< size_t >	currid
	Master ID for this tracker (atomic to allow for multi-threading) More...

std::shared_ptr< FeatureDatabase >	database
	Database with all our current features. More...

HistogramMethod	histogram_method
	What histogram equalization method we should pre-process images with? More...

std::unordered_map< size_t, std::vector< size_t > >	ids_last
	Set of IDs of each current feature in the database. More...

std::map< size_t, cv::Mat >	img_last
	Last set of images (use map so all trackers render in the same order) More...

std::map< size_t, cv::Mat >	img_mask_last
	Last set of images (use map so all trackers render in the same order) More...

std::vector< std::mutex >	mtx_feeds
	Mutexs for our last set of image storage (img_last, pts_last, and ids_last) More...

std::mutex	mtx_last_vars
	Mutex for editing the *_last variables. More...

int	num_features
	Number of features we should try to track frame to frame. More...

std::unordered_map< size_t, std::vector< cv::KeyPoint > >	pts_last
	Last set of tracked points. More...

boost::posix_time::ptime	rT1

boost::posix_time::ptime	rT2

boost::posix_time::ptime	rT3

boost::posix_time::ptime	rT4

boost::posix_time::ptime	rT5

boost::posix_time::ptime	rT6

boost::posix_time::ptime	rT7

bool	use_stereo
	If we should use binocular tracking or stereo tracking for multi-camera. More...

Additional Inherited Members
Public Types inherited from ov_core::TrackBase
enum	HistogramMethod { NONE, HISTOGRAM, CLAHE }
	Desired pre-processing image method. More...

Detailed Description

Tracking of OpenCV Aruoc tags.

This class handles the tracking of OpenCV Aruco tags. We track the corners of the tag as compared to the pose of the tag or any other corners. Right now we hardcode the dictionary to be cv::aruco::DICT_6X6_1000, so please generate tags in this family of tags. You can generate these tags using an online utility: https://chev.me/arucogen/ The actual size of the tags do not matter since we do not recover the pose and instead just use this for re-detection and tracking of the four corners of the tag.

Definition at line 43 of file TrackAruco.h.

Constructor & Destructor Documentation

◆ TrackAruco()

ov_core::TrackAruco::TrackAruco	(	std::unordered_map< size_t, std::shared_ptr< CamBase >>	cameras,
		int	numaruco,
		bool	stereo,
		HistogramMethod	histmethod,
		bool	downsize
	)

inlineexplicit

Public constructor with configuration variables.

Parameters

cameras	camera calibration object which has all camera intrinsics in it
numaruco	the max id of the arucotags, we don't use any tags greater than this value even if we extract them
stereo	if we should do stereo feature tracking or binocular
histmethod	what type of histogram pre-processing should be done (histogram eq?)
downsize	we can scale the image by 1/2 to increase Aruco tag extraction speed

Definition at line 54 of file TrackAruco.h.

Member Function Documentation

◆ feed_new_camera()

void TrackAruco::feed_new_camera ( const CameraData & message )

overridevirtual

Process a new image.

Parameters

message Contains our timestamp, images, and camera ids

Implements ov_core::TrackBase.

Definition at line 31 of file TrackAruco.cpp.

Member Data Documentation

◆ do_downsizing

bool ov_core::TrackAruco::do_downsizing

protected

Definition at line 107 of file TrackAruco.h.

◆ max_tag_id

int ov_core::TrackAruco::max_tag_id

protected

Definition at line 104 of file TrackAruco.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members