JeVoisBase  1.9
JeVois Smart Embedded Machine Vision Toolkit Base Modules
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ArUcoBlob Class Reference

Combined ArUco marker + multiple color-based object detection. More...

Inheritance diagram for ArUcoBlob:
Collaboration diagram for ArUcoBlob:

Public Member Functions

 ArUcoBlob (std::string const &instance)
 Constructor. More...
 
void postInit () override
 Post-init: instantiate the blob detectors. More...
 
void preUninit () override
 
virtual ~ArUcoBlob ()
 Virtual destructor for safe inheritance. More...
 
void detectBlobs (jevois::RawImage *outimg=nullptr)
 Detect blobs in parallel threads. More...
 
void sendBlobs (unsigned int w, unsigned int h, jevois::RawImage *outimg=nullptr)
 Gather our blob threads and send/draw the results. More...
 
void detectArUco (cv::Mat cvimg, std::vector< int > &ids, std::vector< std::vector< cv::Point2f >> &corners, std::vector< cv::Vec3d > &rvecs, std::vector< cv::Vec3d > &tvecs, unsigned int h, jevois::RawImage *outimg=nullptr)
 Detect ArUcos. More...
 
virtual void process (jevois::InputFrame &&inframe) override
 Processing function, no USB video output. More...
 
virtual void process (jevois::InputFrame &&inframe, jevois::OutputFrame &&outframe) override
 Processing function, with USB video output. More...
 
- Public Member Functions inherited from jevois::StdModule
 StdModule (std::string const &instance)
 
virtual ~StdModule ()
 
void sendSerialImg1Dx (unsigned int camw, float x, float size=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialStd1Dx (float x, float size=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialImg1Dy (unsigned int camh, float y, float size=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialStd1Dy (float y, float size=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialImg2D (unsigned int camw, unsigned int camh, float x, float y, float w=0.0F, float h=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialStd2D (float x, float y, float w=0.0F, float h=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialContour2D (unsigned int camw, unsigned int camh, std::vector< cv::Point_< T > > points, std::string const &id="", std::string const &extra="")
 
void sendSerialStd3D (float x, float y, float z, float w=0.0F, float h=0.0F, float d=0.0F, float q1=0.0F, float q2=0.0F, float q3=0.0f, float q4=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialStd3D (std::vector< cv::Point3f > points, std::string const &id="", std::string const &extra="")
 
void sendSerialObjReco (std::vector< ObjReco > const &res)
 
void sendSerialObjDetImg2D (unsigned int camw, unsigned int camh, float x, float y, float w, float h, std::vector< ObjReco > const &res)
 
 JEVOIS_DEFINE_ENUM_CLASS (SerStyle,(Terse)(Normal)(Detail)(Fine)) JEVOIS_DECLARE_PARAMETER(serstyle
 
 JEVOIS_DECLARE_PARAMETER (serprec, unsigned int, "Number of decimal points in standardized serial messages as " "defined in http://jevois.org/doc/UserSerialStyle.html", 0U, jevois::Range< unsigned int >(0U, 10U), ParamCateg)
 
 JEVOIS_DEFINE_ENUM_CLASS (SerStamp,(None)(Frame)(Time)(FrameTime)(FrameDateTime)) JEVOIS_DECLARE_PARAMETER(serstamp
 
 JEVOIS_DEFINE_ENUM_CLASS (SerMark,(None)(Start)(Stop)(Both)) JEVOIS_DECLARE_PARAMETER(sermark
 
- Public Member Functions inherited from jevois::Module
 Module (std::string const &instance)
 
virtual ~Module ()
 
virtual void sendSerial (std::string const &str)
 
virtual void parseSerial (std::string const &str, std::shared_ptr< UserInterface > s)
 
virtual void supportedCommands (std::ostream &os)
 
size_t frameNum () const
 
- Public Member Functions inherited from jevois::Component
 Component (std::string const &instance)
 
virtual ~Component ()
 
std::shared_ptr< ComponentgetSubComponent (std::string const &instance) const
 
std::shared_ptr< Comp > addSubComponent (std::string const &instance, Args &&...args)
 
void removeSubComponent (std::shared_ptr< Comp > &component)
 
void removeSubComponent (std::string const &instance, bool warnIfNotFound=true)
 
std::shared_ptr< Comp > getSubComponent (std::string const &instance) const
 
bool isTopLevel () const
 
bool initialized () const
 
std::string const & className () const
 
std::string const & instanceName () const
 
std::vector< std::string > setParamVal (std::string const &paramdescriptor, T const &val)
 
void setParamValUnique (std::string const &paramdescriptor, T const &val)
 
std::vector< std::pair< std::string, T > > getParamVal (std::string const &paramdescriptor) const
 
getParamValUnique (std::string const &paramdescriptor) const
 
std::vector< std::string > setParamString (std::string const &paramdescriptor, std::string const &val)
 
void setParamStringUnique (std::string const &paramdescriptor, std::string const &val)
 
std::vector< std::pair< std::string, std::string > > getParamString (std::string const &paramdescriptor) const
 
std::string getParamStringUnique (std::string const &paramdescriptor) const
 
void freezeParam (std::string const &paramdescriptor)
 
void unFreezeParam (std::string const &paramdescriptor)
 
void freezeAllParams ()
 
void unFreezeAllParams ()
 
std::string descriptor () const
 
void setParamsFromFile (std::string const &filename)
 
std::istream & setParamsFromStream (std::istream &is, std::string const &absfile)
 
virtual void paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")
 
void setPath (std::string const &path)
 
std::string absolutePath (std::string const &path="")
 
std::shared_ptr< Comp > addSubComponent (std::string const &instance, Args &&...args)
 
void removeSubComponent (std::shared_ptr< Comp > &component)
 
void removeSubComponent (std::string const &instance, bool warnIfNotFound=true)
 
std::shared_ptr< Comp > getSubComponent (std::string const &instance) const
 
bool isTopLevel () const
 
bool initialized () const
 
std::string const & className () const
 
std::string const & instanceName () const
 
std::vector< std::string > setParamVal (std::string const &paramdescriptor, T const &val)
 
void setParamValUnique (std::string const &paramdescriptor, T const &val)
 
std::vector< std::pair< std::string, T > > getParamVal (std::string const &paramdescriptor) const
 
getParamValUnique (std::string const &paramdescriptor) const
 
std::vector< std::string > setParamString (std::string const &paramdescriptor, std::string const &val)
 
void setParamStringUnique (std::string const &paramdescriptor, std::string const &val)
 
std::vector< std::pair< std::string, std::string > > getParamString (std::string const &paramdescriptor) const
 
std::string getParamStringUnique (std::string const &paramdescriptor) const
 
void freezeParam (std::string const &paramdescriptor)
 
void unFreezeParam (std::string const &paramdescriptor)
 
void freezeAllParams ()
 
void unFreezeAllParams ()
 
std::string descriptor () const
 
void setParamsFromFile (std::string const &filename)
 
std::istream & setParamsFromStream (std::istream &is, std::string const &absfile)
 
virtual void paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")
 
void setPath (std::string const &path)
 
std::string absolutePath (std::string const &path="")
 
- Public Member Functions inherited from jevois::ParameterRegistry
virtual ~ParameterRegistry ()
 

Protected Attributes

std::shared_ptr< ArUcoitsArUco
 
std::vector< std::shared_ptr< BlobDetector > > itsBlobs
 
cv::Mat itsImgHsv
 
std::map< std::string, std::vector< std::vector< cv::Point > > > itsContours
 
std::vector< std::future< void > > itsBlobFuts
 
std::mutex itsBlobMtx
 

Related Functions

(Note that these are not member functions.)

 JEVOIS_DECLARE_PARAMETER (numtrack, size_t, "Number of parallel blob trackers to run. They will be named blob0, " "blob1, etc for parameters and serial messages", 3, ParamCateg)
 Parameter. More...
 

Additional Inherited Members

- Protected Member Functions inherited from jevois::StdModule
void sendSerialMarkStart ()
 
void sendSerialMarkStop ()
 
std::string getStamp () const
 
- Protected Member Functions inherited from jevois::Component
virtual void preInit ()
 
virtual void postUninit ()
 
virtual void preInit ()
 
virtual void postUninit ()
 
- Protected Member Functions inherited from jevois::ParameterRegistry
void addParameter (ParameterBase *const param)
 
void removeParameter (ParameterBase *const param)
 
void callbackInitCall ()
 

Detailed Description

Combined ArUco marker + multiple color-based object detection.

This modules 1) detects ArUco markers (small black-and-white geometric patterns which can be used as tags for some objects), and, in parallel, 2) isolates pixels within multiple given HSV ranges (hue, saturation, and value of color pixels), does some cleanups, and extracts object contours. It sends information about detected ArUco tags and color objects over serial.

This module was developed to allow students to easily develop visually-guided robots that can at the same time detect ArUco markers placed in the environment to signal certain key objects (e.g., charging station, home base) and colored objects of different kinds (e.g., blue people, green trees, and yellow fires).

This module usually works best with the camera sensor set to manual exposure, manual gain, manual color balance, etc so that HSV color values are reliable. See the file script.cfg file in this module's directory for an example of how to set the camera settings each time this module is loaded.

Since this is a combination module, refer to:

The number of parallel blob trackers is determined by parameter numtrack, which should be set before the module is initialized, i.e., in the module's params.cfg file. It cannot be changed while the module is running.

The module runs at about 50 frames/s with 3 parallel blob detectors plus ArUco, at 320x240 camera sensor resolution. Increasing to 10 parallel blob detectors will still get you about 25 frames/s (but finding robust non-overlapping HSV ranges for all those detectors will become challenging!)

To configure parameters hrange, srange, and vrange for each detector in the module's scrip.cfg, we recommend that you do it one by one for each kind of colored object you want, using the ObjectTracker module (which shares the same color blob detection code, just for one HSV range) and the tutorial on Tuning the color-based object tracker using a python graphical interface, or the sliders in JeVois Inventor. Just make sure that both modules have the same camera settings in their respective script.cfg files.

Using the serial outputs

We recommend the following settings (to apply after you load the module, for example in the module's script.cfg file):

setpar serout USB # to send to serial-over-USB, or use Hard to send to 4-pin serial port
setpar serstyle Normal # to get ID, center location, size for every detected color blob and ArUco tag
setpar serstamp Frame # to add video frame number to all messages

With a scene as shown in this module's screenshots, you would then get outputs like:

...
1557 N2 U42 -328 -9 706 569
1557 N2 U18 338 -241 613 444
1557 N2 blob0 616 91 406 244
1557 N2 blob1 28 584 881 331
1557 N2 blob2 47 -553 469 206
1558 N2 U42 -328 -9 706 569
1558 N2 U18 338 -241 613 444
1558 N2 blob0 547 113 519 275
1558 N2 blob1 28 581 881 338
1558 N2 blob2 47 -553 469 206
1559 N2 U42 -331 -13 700 563
1559 N2 U18 338 -244 613 450
1559 N2 blob0 369 153 200 194
1559 N2 blob0 616 94 381 250
1559 N2 blob1 28 581 881 338
1559 N2 blob2 47 -553 469 206
...

which basically means that, on frame 1557, ArUco markers U42 and U18 were detected, then blob detector named "blob0" (configured for light blue objects in script.cfg) detected one blob, then "blob1" (configured for yellow) also detected one, and finally "blob2" (configured for green) found one too. That was all for frame 1157, and we then switch to frame 1158 (with essentially the same detections), then frame 1159 (note how blob0 detected 2 different blobs on that frame), and so on. See Standardized serial messages formatting for more info about these messages.

See Standardized serial messages formatting for more on standardized serial messages, and Helper functions to convert coordinates from camera resolution to standardized for more info on standardized coordinates.

Running with no video output (standalone mode)

Try these settings in the global initialization script file of JeVois, which is executed when JeVois powers up, in JEVOIS:/config/initscript.cfg:

setmapping2 YUYV 320 240 45.0 JeVois ArUcoBlob # to select this module upon power up
setpar serout Hard # to send detection messages to 4-pin serial port
setpar serstyle Normal # to get ID, center location, size
setpar serstamp Frame # to add video frame number to all messages
streamon # start capturing and processing camera sensor data

Make sure you do not have conflicting settings in the module's params.cfg or script.cfg file; as a reminder, the order of execution is: 1) initscript.cfg runs, which loads the module through the setmapping2 command; 2) as part of the loading process and before the module is initialized, settings in params.cfg are applied; 3) the module is then initialized and commands in script.cfg are run; 4) the additional commands following setmapping2 in initscript.cfg are finally run. Next time JeVois starts up, it will automatically load this module and start sending messages to the hardware 4-pin serial port, which you should then connect to an Arduino or other robot controller.

Author
Laurent Itti
Display Name:
ArUco Blob
Videomapping:
YUYV 320 266 30.0 YUYV 320 240 30.0 JeVois ArUcoBlob
Videomapping:
NONE 0 0 0.0 YUYV 320 240 30.0 JeVois ArUcoBlob
Email:
itti@usc.edu
Address:
University of Southern California, HNB-07A, 3641 Watt Way, Los Angeles, CA 90089-2520, USA
Main URL:
http://jevois.org
Support URL:
http://jevois.org/doc
Other URL:
http://iLab.usc.edu
License:
GPL v3
Distribution:
Unrestricted
Restrictions:
None

Definition at line 150 of file ArUcoBlob.C.

Constructor & Destructor Documentation

◆ ArUcoBlob()

ArUcoBlob::ArUcoBlob ( std::string const &  instance)
inline

Constructor.

Definition at line 157 of file ArUcoBlob.C.

References itsArUco.

◆ ~ArUcoBlob()

virtual ArUcoBlob::~ArUcoBlob ( )
inlinevirtual

Virtual destructor for safe inheritance.

Definition at line 187 of file ArUcoBlob.C.

Member Function Documentation

◆ detectArUco()

void ArUcoBlob::detectArUco ( cv::Mat  cvimg,
std::vector< int > &  ids,
std::vector< std::vector< cv::Point2f >> &  corners,
std::vector< cv::Vec3d > &  rvecs,
std::vector< cv::Vec3d > &  tvecs,
unsigned int  h,
jevois::RawImage outimg = nullptr 
)
inline

Detect ArUcos.

Definition at line 226 of file ArUcoBlob.C.

References itsArUco.

Referenced by process().

◆ detectBlobs()

void ArUcoBlob::detectBlobs ( jevois::RawImage outimg = nullptr)
inline

Detect blobs in parallel threads.

Definition at line 192 of file ArUcoBlob.C.

References itsBlobFuts, itsBlobMtx, itsBlobs, itsContours, and itsImgHsv.

Referenced by process().

◆ postInit()

void ArUcoBlob::postInit ( )
inlineoverridevirtual

Post-init: instantiate the blob detectors.

Reimplemented from jevois::Component.

Definition at line 167 of file ArUcoBlob.C.

References freeze(), itsBlobs, and to_string().

◆ preUninit()

void ArUcoBlob::preUninit ( )
inlineoverridevirtual

Reimplemented from jevois::Component.

Definition at line 178 of file ArUcoBlob.C.

References itsBlobs, and jevois::Component::removeSubComponent().

◆ process() [1/2]

virtual void ArUcoBlob::process ( jevois::InputFrame &&  inframe)
inlineoverridevirtual

◆ process() [2/2]

◆ sendBlobs()

void ArUcoBlob::sendBlobs ( unsigned int  w,
unsigned int  h,
jevois::RawImage outimg = nullptr 
)
inline

Gather our blob threads and send/draw the results.

Definition at line 211 of file ArUcoBlob.C.

References itsBlobFuts, itsContours, LERROR, and jevois::StdModule::sendSerialContour2D().

Referenced by process().

Friends And Related Function Documentation

◆ JEVOIS_DECLARE_PARAMETER()

JEVOIS_DECLARE_PARAMETER ( numtrack  ,
size_t  ,
"Number of parallel blob trackers to run. They will be named  blob0,
" "  blob1,
etc for parameters and serial messages"  ,
,
ParamCateg   
)
related

Parameter.

Member Data Documentation

◆ itsArUco

std::shared_ptr<ArUco> ArUcoBlob::itsArUco
protected

Definition at line 357 of file ArUcoBlob.C.

Referenced by ArUcoBlob(), detectArUco(), and process().

◆ itsBlobFuts

std::vector<std::future<void> > ArUcoBlob::itsBlobFuts
protected

Definition at line 361 of file ArUcoBlob.C.

Referenced by detectBlobs(), and sendBlobs().

◆ itsBlobMtx

std::mutex ArUcoBlob::itsBlobMtx
protected

Definition at line 362 of file ArUcoBlob.C.

Referenced by detectBlobs().

◆ itsBlobs

std::vector<std::shared_ptr<BlobDetector> > ArUcoBlob::itsBlobs
protected

Definition at line 358 of file ArUcoBlob.C.

Referenced by detectBlobs(), postInit(), and preUninit().

◆ itsContours

std::map<std::string, std::vector<std::vector<cv::Point> > > ArUcoBlob::itsContours
protected

Definition at line 360 of file ArUcoBlob.C.

Referenced by detectBlobs(), process(), and sendBlobs().

◆ itsImgHsv

cv::Mat ArUcoBlob::itsImgHsv
protected

Definition at line 359 of file ArUcoBlob.C.

Referenced by detectBlobs(), and process().


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