FiducialTracker Class Reference

FiducialTracker Class. More...

#include <fiducial_tracker.hpp>

Inheritance diagram for FiducialTracker:

Collaboration diagram for FiducialTracker:

Classes
struct	Parameters
	Feature Tracker Initialization parameters structure. More...

Public Types
typedef FiducialTracker::Parameters	Parameters
	Feature Tracker Initialization parameters structure.
Public Types inherited from Tracker
typedef struct Tracker::Parameters	Parameters
	Tracker Initialization parameters structure.

Public Member Functions
	FiducialTracker (FiducialTracker::Parameters params)
	FeatureTracker sensor constructor. More...
void	Track (double time, int frame_id, const cv::Mat &img_in, cv::Mat &img_out)
	Perform track on new image frame. More...
int	InterpolateCorners (std::vector< std::vector< cv::Point2f >> &marker_corners, std::vector< int > &marker_ids, cv::Mat image, cv::Ptr< cv::aruco::Board > &board, std::vector< cv::Point2f > &corners, std::vector< int > &ids, cv::Mat camera_matrix, cv::Mat dist_coefficients)
	Function to interpolate corners of charuco boards. More...
void	DrawDetectedCorners (cv::Mat image, std::vector< std::vector< cv::Point2f >> &marker_corners, std::vector< cv::Point2f > &corners, std::vector< int > &ids, cv::Scalar corner_color)
	DrawDetectedCorners. More...
bool	EstimatePoseBoard (std::vector< std::vector< cv::Point2f >> &marker_corners, cv::InputArray &corners, cv::InputArray &ids, cv::Ptr< cv::aruco::Board > board, cv::InputArray &camera_matrix, cv::InputArray &dist_coefficients, cv::Vec3d &r_vec, cv::Vec3d &t_vec)
	Estimate pose of board. More...
Public Member Functions inherited from Tracker
	Tracker (Parameters params)
	Tracker Initialization parameters structure. More...
unsigned int	GetID ()
	Tracker ID getter method. More...

Public Attributes
cv::Ptr< cv::aruco::Dictionary >	m_dict
	Fiducial board dictionary.
cv::Ptr< cv::aruco::Board >	m_board
	Fiducial board.

Protected Attributes
FiducialUpdater	m_fiducial_updater
	MSCKF updater object.
FiducialType	m_detector_type
	Detector type.
Protected Attributes inherited from Tracker
unsigned int	m_id
	Tracker ID.
int	m_camera_id
	Associated camera ID of tracker.
unsigned int	m_min_track_length {2}
	Minimum track length to consider.
unsigned int	m_max_track_length {20}
	Maximum track length before forced output.
std::shared_ptr< EKF >	m_ekf
	EKF.
std::shared_ptr< DebugLogger >	m_logger
	Debug logger.

Detailed Description

FiducialTracker Class.

Constructor & Destructor Documentation

FiducialTracker()

FiducialTracker::FiducialTracker ( FiducialTracker::Parameters  params )

explicit

FeatureTracker sensor constructor.

Parameters

params

Parameter struct for feature tracker

Member Function Documentation

DrawDetectedCorners()

void FiducialTracker::DrawDetectedCorners	(	cv::Mat	image,
		std::vector< std::vector< cv::Point2f >> &	marker_corners,
		std::vector< cv::Point2f > &	corners,
		std::vector< int > &	ids,
		cv::Scalar	corner_color
	)

DrawDetectedCorners.

Parameters

image	Image on which to draw corners
marker_corners	Input aruco corners
corners	Input charuco corners
ids	Detected IDs
corner_color	Colors for drawing

EstimatePoseBoard()

bool FiducialTracker::EstimatePoseBoard	(	std::vector< std::vector< cv::Point2f >> &	marker_corners,
		cv::InputArray &	corners,
		cv::InputArray &	ids,
		cv::Ptr< cv::aruco::Board >	board,
		cv::InputArray &	camera_matrix,
		cv::InputArray &	dist_coefficients,
		cv::Vec3d &	r_vec,
		cv::Vec3d &	t_vec
	)

Estimate pose of board.

Parameters

marker_corners	Input aruco corners
corners	Input charuco corners
ids	Fiducial IDs
board	Fiducial board
camera_matrix	Input camera matrix
dist_coefficients	Input camera distortion coefficients
r_vec	Output rotation vector of board
t_vec	Output translation vector of board

InterpolateCorners()

int FiducialTracker::InterpolateCorners	(	std::vector< std::vector< cv::Point2f >> &	marker_corners,
		std::vector< int > &	marker_ids,
		cv::Mat	image,
		cv::Ptr< cv::aruco::Board > &	board,
		std::vector< cv::Point2f > &	corners,
		std::vector< int > &	ids,
		cv::Mat	camera_matrix,
		cv::Mat	dist_coefficients
	)

Function to interpolate corners of charuco boards.

Parameters

marker_corners	Input marker corners
marker_ids	Input marker IDs
image	Image on which to perform interpolation
board	Fiducial board
corners	Output corners
ids	Output ids
camera_matrix	Input camera matrix
dist_coefficients	Input camera distortion coefficients

Track()

void FiducialTracker::Track	(	double	time,
		int	frame_id,
		const cv::Mat &	img_in,
		cv::Mat &	img_out
	)

Perform track on new image frame.

Parameters

time	Frame time
frame_id	Frame ID
img_in	Input frame
img_out	Output frame with drawn track lines

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

• src/trackers/fiducial_tracker.hpp
• src/trackers/fiducial_tracker.cpp