tagdetectutils Namespace Reference

Namespace containing functions to assist in tag detection. More...

Functions
void	LoadDetectedTags (std::vector< arucotag::ArucoTag > &vDetectedArucoTags, std::vector< tensorflowtag::TensorflowTag > &vDetectedTensorflowTags, const std::vector< TagDetector * > &vTagDetectors, bool bUnique=false)
	Aggregates all detected tags from each provided tag detector for both OpenCV and Tensorflow detection.
bool	FindArucoTagByID (int nID, arucotag::ArucoTag &stIdentifiedArucoTag, const std::vector< TagDetector * > &vTagDetectors)
	Find a tag in the rover's vision with the specified ID, using OpenCV detection.

Detailed Description

Namespace containing functions to assist in tag detection.

Author

Jason Pittman (jspen.nosp@m.cerp.nosp@m.ittma.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-10-07

Function Documentation

LoadDetectedTags()

void tagdetectutils::LoadDetectedTags ( std::vector< arucotag::ArucoTag > &  vDetectedArucoTags, std::vector< tensorflowtag::TensorflowTag > &  vDetectedTensorflowTags, const std::vector< TagDetector * > &  vTagDetectors, bool  bUnique = false  )

inline

Aggregates all detected tags from each provided tag detector for both OpenCV and Tensorflow detection.

Note

When using bUnique, if you wish to prioritize one tag detector's detections over another put that tag detector earlier in the vTagDetectors.

Parameters

vDetectedArucoTags	- Reference vector that will hold all of the aggregated detected Aruco tags.
vDetectedTensorflowTags	- Reference vector that will hold all of the aggregated detected Tensorflow tags.
vTagDetectors	- Vector of pointers to tag detectors that will be used to request their detected tags.
bUnique	- Ensure vDetectedArucoTags is a unique list of tags (unique by ID).

Author

JSpencerPittman (jspen.nosp@m.cerp.nosp@m.ittma.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-03-07

    {
        // Number of tag detectors.
        size_t siNumTagDetectors = vTagDetectors.size();
 
        // Initialize vectors to store detected tags temporarily.
        std::vector<std::vector<arucotag::ArucoTag>> vDetectedArucoTagBuffers(siNumTagDetectors);
        std::vector<std::vector<tensorflowtag::TensorflowTag>> vDetectedTensorflowTagBuffers(siNumTagDetectors);
 
        // Initialize vectors to store detected tags futures.
        std::vector<std::future<bool>> vDetectedArucoTagsFuture;
        std::vector<std::future<bool>> vDetectedTensorflowTagsFuture;
 
        // Request tags from each detector.
        for (size_t siIdx = 0; siIdx < siNumTagDetectors; ++siIdx)
        {
            // Check if this tag detector is ready.
            if (vTagDetectors[siIdx]->GetIsReady())
            {
                // Request detected Aruco tags from detector.
                vDetectedArucoTagsFuture.emplace_back(vTagDetectors[siIdx]->RequestDetectedArucoTags(vDetectedArucoTagBuffers[siIdx]));
                // Request detected Tensorflow tags from detector.
                vDetectedTensorflowTagsFuture.emplace_back(vTagDetectors[siIdx]->RequestDetectedTensorflowTags(vDetectedTensorflowTagBuffers[siIdx]));
            }
        }
 
        // Ensure all requests have been fulfilled.
        // Then transfer tags from the buffer to vDetectedArucoTags and vDetectedTensorflowTags for the user to access.
        for (size_t siIdx = 0; siIdx < vDetectedArucoTagsFuture.size(); ++siIdx)
        {
            // Wait for the request to be fulfilled.
            vDetectedArucoTagsFuture[siIdx].get();
            vDetectedTensorflowTagsFuture[siIdx].get();
 
            // Loop through the detected Aruco tags and add them to the vDetectedArucoTags vector.
            for (const arucotag::ArucoTag& tTag : vDetectedArucoTagBuffers[siIdx])
            {
                vDetectedArucoTags.emplace_back(tTag);
            }
 
            // Loop through the detected Tensorflow tags and add them to the vDetectedTensorflowTags vector.
            for (const tensorflowtag::TensorflowTag& tTag : vDetectedTensorflowTagBuffers[siIdx])
            {
                vDetectedTensorflowTags.emplace_back(tTag);
            }
        }
 
        if (bUnique)
        {
            // Remove all Aruco tags with a duplicate ID.
            std::set<int> setIds;
            size_t szIdx = 0;
            while (szIdx < vDetectedArucoTags.size())
            {
                // Tag was detected by another tag detector.
                if (setIds.count(vDetectedArucoTags[szIdx].nID))
                {
                    vDetectedArucoTags.erase(vDetectedArucoTags.begin() + szIdx);
                }
                else
                {
                    setIds.insert(vDetectedArucoTags[szIdx].nID);
                    ++szIdx;
                }
            }
        }
    }

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FindArucoTagByID()

bool tagdetectutils::FindArucoTagByID ( int  nID, arucotag::ArucoTag &  stIdentifiedArucoTag, const std::vector< TagDetector * > &  vTagDetectors  )

inline

Find a tag in the rover's vision with the specified ID, using OpenCV detection.

Parameters

nID	- The ID of the tag being looked for.
stIdentifiedArucoTag	- Reference to save the identified tag.
vTagDetectors	- Vector of pointers to tag detectors that will be used to request their detected tags.

Returns

true - The tag was found.

false - The tag was not found.

Author

JSpencerPittman (jspen.nosp@m.cerp.nosp@m.ittma.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-03-08

    {
        // Load all detected tags in the rover's vision.
        std::vector<arucotag::ArucoTag> vDetectedArucoTags;
        std::vector<tensorflowtag::TensorflowTag> vDetectedTensorflowTags;
        LoadDetectedTags(vDetectedArucoTags, vDetectedTensorflowTags, vTagDetectors, true);
 
        // Find the tag with the corresponding id.
        for (const arucotag::ArucoTag& tTag : vDetectedArucoTags)
        {
            // Is this the tag being searched for.
            if (tTag.nID == nID)
            {
                stIdentifiedArucoTag = tTag;
                return true;
            }
        }
 
        // The tag was not found by the tag detectors.
        return false;
    }

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