ov_core::TrackAruco class

Tracking of OpenCV Aruoc tags.

Reference

This class handles the tracking of OpenCV Aruco tags. We track the top left corner 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_25, so please generate tags in this family of tags.

Base classes

class TrackBase: Visual feature tracking base class.

Constructors, destructors, conversion operators

TrackAruco(): Public default constructor.
TrackAruco(int numaruco, bool do_downsizing) explicit: Public constructor with configuration variables.

Public functions

void feed_monocular(double timestamp, cv::Mat& img, size_t cam_id) override: Process a new monocular image.
void feed_stereo(double timestamp, cv::Mat& img_left, cv::Mat& img_right, size_t cam_id_left, size_t cam_id_right) override: Process new stereo pair of images.
void display_active(cv::Mat& img_out, int r1, int g1, int b1, int r2, int g2, int b2) override: We override the display equation so we can show the tags we extract.

Function documentation

ov_core::TrackAruco::TrackAruco(int numaruco, bool do_downsizing) explicit

Public constructor with configuration variables.

Parameters
numaruco	the max id of the arucotags, we don't use any tags greater than this value even if we extract them
do_downsizing	we can scale the image by 1/2 to increase Aruco tag extraction speed

void ov_core::TrackAruco::feed_monocular(double timestamp, cv::Mat& img, size_t cam_id) override

Process a new monocular image.

Parameters
timestamp	timestamp the new image occurred at
img	new cv:Mat grayscale image
cam_id	the camera id that this new image corresponds too

void ov_core::TrackAruco::feed_stereo(double timestamp, cv::Mat& img_left, cv::Mat& img_right, size_t cam_id_left, size_t cam_id_right) override

Process new stereo pair of images.

Parameters
timestamp	timestamp this pair occured at (stereo is synchronised)
img_left	first grayscaled image
img_right	second grayscaled image
cam_id_left	first image camera id
cam_id_right	second image camera id

void ov_core::TrackAruco::display_active(cv::Mat& img_out, int r1, int g1, int b1, int r2, int g2, int b2) override

We override the display equation so we can show the tags we extract.

Parameters
img_out	image to which we will overlayed features on
r1	first color to draw in
g1	first color to draw in
b1	first color to draw in
r2	second color to draw in
g2	second color to draw in
b2	second color to draw in