ArucoGenerateTags.hpp File Reference

This example uses the OpenCV TagGenerator.hpp example and multithreads the generation of all available Aruco tags for the given dictionary type. More...

#include "../../src/interfaces/AutonomyThread.hpp"
#include "../../src/util/ExampleChecker.h"
#include "../opencv/TagGenerator.hpp"

Include dependency graph for ArucoGenerateTags.hpp:

Go to the source code of this file.

Classes
class	ArucoGenerateTagsThreaded
	This class inherits the AutonomyThread interface and implements the threaded container methods. It also utilizes the ability to create a thread pool of subroutines and the ability to parallelize loops. More...
class	ArucoGenerateTagsLinear
	This class is non threaded. More...

Functions
void	RunExample ()
	Main example method.

Detailed Description

This example uses the OpenCV TagGenerator.hpp example and multithreads the generation of all available Aruco tags for the given dictionary type.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-07-23

Copyright

Copyright Mars Rover Design Team 2023 - All Rights Reserved

Function Documentation

RunExample()

void RunExample

(

)

Main example method.

Returns

int - Return status.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-07-23

Linear generator.

Threaded generator.

{
    // Start the timer
    std::chrono::time_point tmStartTime = std::chrono::high_resolution_clock::now();
 
    // Create generator.
    ArucoGenerateTagsLinear LinearTagGenerator;
 
    // Configure tag generator for first run.
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_4X4_50);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_5X5_50);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_6X6_50);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_7X7_50);
    LinearTagGenerator.SetNumTagsToGenerate(50);
    // Start first run.
    LinearTagGenerator.Start();
 
    // Add new dictionary to generator.
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_4X4_100);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_5X5_100);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_6X6_100);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_7X7_100);
    LinearTagGenerator.SetNumTagsToGenerate(100);
    // Start second run.
    LinearTagGenerator.Start();
 
    // Add new dictionary to generator.
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_4X4_250);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_5X5_250);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_6X6_250);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_7X7_250);
    LinearTagGenerator.SetNumTagsToGenerate(250);
    // Start third run.
    LinearTagGenerator.Start();
 
    // Add new dictionary to generator.
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_4X4_1000);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_5X5_1000);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_6X6_1000);
    LinearTagGenerator.AddTagDictionaryType(cv::aruco::DICT_7X7_1000);
    LinearTagGenerator.SetNumTagsToGenerate(1000);
    // Start fourth run.
    LinearTagGenerator.Start();
 
    // End the timer
    std::chrono::time_point tmEndTime = std::chrono::high_resolution_clock::now();
    // Calculate the elapsed time
    int nSingledThreadedDuration = std::chrono::duration_cast<std::chrono::milliseconds>(tmEndTime - tmStartTime).count();
    // Print the result
    std::cout << "Time taken for single threaded generator: " << nSingledThreadedDuration << " milliseconds." << std::endl;
 
    // Remove all png files in the current directory.
    for (const std::filesystem::directory_entry& stdEntry : std::filesystem::directory_iterator("."))
    {
        // Loop all *.png files.
        if (std::filesystem::is_regular_file(stdEntry) && stdEntry.path().extension() == ".png")
        {
            // Delete.
            std::filesystem::remove(stdEntry.path());
        }
    }
 
    // Start the timer
    tmStartTime = std::chrono::high_resolution_clock::now();
 
    // Create Aruco generator threads.
    ArucoGenerateTagsThreaded ThreadedTagGenerator1;
    ArucoGenerateTagsThreaded ThreadedTagGenerator2;
    ArucoGenerateTagsThreaded ThreadedTagGenerator3;
    ArucoGenerateTagsThreaded ThreadedTagGenerator4;
 
    // Configure tag generator for first run.
    ThreadedTagGenerator1.AddTagDictionaryType(cv::aruco::DICT_4X4_50);
    ThreadedTagGenerator1.AddTagDictionaryType(cv::aruco::DICT_5X5_50);
    ThreadedTagGenerator1.AddTagDictionaryType(cv::aruco::DICT_6X6_50);
    ThreadedTagGenerator1.AddTagDictionaryType(cv::aruco::DICT_7X7_50);
    ThreadedTagGenerator1.SetNumTagsToGenerate(50);
    // Start first run.
    ThreadedTagGenerator1.Start();
 
    // Add new dictionary to generator.
    ThreadedTagGenerator2.AddTagDictionaryType(cv::aruco::DICT_4X4_100);
    ThreadedTagGenerator2.AddTagDictionaryType(cv::aruco::DICT_5X5_100);
    ThreadedTagGenerator2.AddTagDictionaryType(cv::aruco::DICT_6X6_100);
    ThreadedTagGenerator2.AddTagDictionaryType(cv::aruco::DICT_7X7_100);
    ThreadedTagGenerator2.SetNumTagsToGenerate(100);
    // Start second run.
    ThreadedTagGenerator2.Start();
 
    // Add new dictionary to generator.
    ThreadedTagGenerator3.AddTagDictionaryType(cv::aruco::DICT_4X4_250);
    ThreadedTagGenerator3.AddTagDictionaryType(cv::aruco::DICT_5X5_250);
    ThreadedTagGenerator3.AddTagDictionaryType(cv::aruco::DICT_6X6_250);
    ThreadedTagGenerator3.AddTagDictionaryType(cv::aruco::DICT_7X7_250);
    ThreadedTagGenerator3.SetNumTagsToGenerate(250);
    // Start third run.
    ThreadedTagGenerator3.Start();
 
    // Add new dictionary to generator.
    ThreadedTagGenerator4.AddTagDictionaryType(cv::aruco::DICT_4X4_1000);
    ThreadedTagGenerator4.AddTagDictionaryType(cv::aruco::DICT_5X5_1000);
    ThreadedTagGenerator4.AddTagDictionaryType(cv::aruco::DICT_6X6_1000);
    ThreadedTagGenerator4.AddTagDictionaryType(cv::aruco::DICT_7X7_1000);
    ThreadedTagGenerator4.SetNumTagsToGenerate(1000);
    // Start fourth run.
    ThreadedTagGenerator4.Start();
 
    // Join all.
    ThreadedTagGenerator1.Join();
    ThreadedTagGenerator2.Join();
    ThreadedTagGenerator3.Join();
    ThreadedTagGenerator4.Join();
 
    // End the timer
    tmEndTime = std::chrono::high_resolution_clock::now();
    // Calculate the elapsed time
    int nMultiThreadedDuration = std::chrono::duration_cast<std::chrono::milliseconds>(tmEndTime - tmStartTime).count();
    // Print the result
    std::cout << "Time taken for multithreaded generator: " << nMultiThreadedDuration << " milliseconds." << std::endl;
    std::cout << "\n\nCheck your build directory for all aruco tags!" << std::endl;
}

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