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Enable board detection for arucodetection #931

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Enable board detection for arucodetection #931

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3141b54
enable pose estimation for aruco boards
mebbaid Feb 5, 2025
019c222
updated unit test
mebbaid Feb 5, 2025
0ecf127
add parameter is_board
mebbaid Feb 6, 2025
4a5654d
use optional params
mebbaid Feb 6, 2025
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46 changes: 32 additions & 14 deletions src/Perception/include/BipedalLocomotion/Perception/Features/ArucoDetector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@

#include <Eigen/Dense>
#include <opencv2/core.hpp>
#include <opencv2/aruco.hpp> // Include for Board definition

#include <memory>
#include <unordered_map>
Expand All @@ -25,15 +26,20 @@ namespace Perception
/**
* Aruco marker identifiers
*/
struct ArucoMarkerData
struct ArucoData
{
/**
* Marker ID
* Note: When detecting boards, a special ID (e.g., 0) can be used
* to represent the board's pose.
*/
int id{-1};

/**
* Marker corners in camera coordinates
* Marker corners in camera coordinates.
* For boards, this may contain the corners of one of the markers
* on the board or be left empty, depending on how you want to
* represent the board's visual information.
* in the order
* - top left
* - top right
Expand All @@ -43,7 +49,7 @@ struct ArucoMarkerData
std::vector<cv::Point2f> corners;

/**
* Pose of the marker in camera frame
* Pose of the marker/board in camera frame
* cam_H_marker
*/
Eigen::Matrix4d pose;
Expand All @@ -55,7 +61,12 @@ struct ArucoMarkerData
*/
struct ArucoDetectorOutput
{
std::unordered_map<int, ArucoMarkerData> markers;
/**
* Map of detected markers/boards.
* Key: Marker ID (or special ID for the board)
* Value: ArucoData for the corresponding marker/board
*/
std::unordered_map<int, ArucoData> markers;
double timeNow{-1.0};
};

Expand All @@ -78,14 +89,20 @@ class ArucoDetector : public System::Source<ArucoDetectorOutput>
* - "marker_length" marker length in m
* - "camera_matrix" 9d vector representing the camera calbration matrix in row major order
* - "distortion_coefficients" 5d vector containing camera distortion coefficients
*
* For board detection, also require:
* - "markers_x": Number of markers in the X direction of the board.
* - "markers_y": Number of markers in the Y direction of the board.
* - "marker_separation": Separation between markers on the board (in meters).
*
* @param[in] handlerWeak weak pointer to a ParametersHandler::IParametersHandler interface
* @tparameter Derived particular implementation of the IParameterHandler
* @return True in case of success, false otherwise.
*/
bool initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) final;

/**
* Set image for which markers need to be detected
* Set image for which markers/boards need to be detected
* @param[in] inputImg image as OpenCV mat
* @param[in] timeNow current time in chosen time units
* it is useful for bookkeeping
Expand All @@ -101,25 +118,26 @@ class ArucoDetector : public System::Source<ArucoDetectorOutput>
bool advance() final;

/**
* Get the detected markers' data from the current step
* Get the detected markers'/boards' data from the current step
* @return A struct containing a map container of detected markers.
*/
const ArucoDetectorOutput& getOutput() const final;

/**
* Get the detected marker data
* @param[in] id marker id
* Get the detected marker/board data
* @param[in] id marker/board id. Use a special ID (e.g., 0) to retrieve
* the board's pose if board detection is enabled.
* @param[in] markerData detected marker identifiers data
* @return True in case of success, false if marker was not detected
* @return True in case of success, false if marker/board was not detected
*/
bool getDetectedMarkerData(const int& id, ArucoMarkerData& markerData);
bool getDetectedMarkerData(const int& id, ArucoData& arucoData);

/**
* Get the image with drawn detected markers
* Get the image with drawn detected markers/board pose.
* @param[in] outputImg image with detected markers drawn on it
* @param[in] drawFrames draw also estimated marker poses, set to false by default
* @param[in] drawFrames draw also estimated marker/board poses, set to false by default
* @param[in] axisLengthForDrawing axis length for drawing the frame axes, 0.1 by default
* @return True in case of success, false if no marker was detected
* @return True in case of success, false if no marker/board was detected
*/
bool getImageWithDetectedMarkers(cv::Mat& outputImg,
const bool& drawFrames = false,
Expand All @@ -139,4 +157,4 @@ class ArucoDetector : public System::Source<ArucoDetectorOutput>
} // namespace Perception
} // namespace BipedalLocomotion

#endif // BIPEDAL_LOCOMOTION_PERECEPTION_FEATURES_ARUCO_H
#endif // BIPEDAL_LOCOMOTION_PERECEPTION_FEATURES_ARUCO_H
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