ColorTracker component

Table of Contents

• Ports
  • DronePose (in)
  • Frame (in)
  • Intrinsics (in)
  • Extrinsics (in)
  • OccupancyGrid (out)
  • PlatesInfo (out)
  • TargetPose (out)
  • output (multiple out)
  • mask (out)
• Services
  • color_track (activity)
  • clear_findings (activity)
  • set_color (attribute)
  • set_debug (attribute)
  • set_camera_pose (attribute)
  • set_map_size (attribute)
  • set_distance_threshold (attribute)
  • perform_tracking (attribute)
  • set_verbose_level (attribute)
  • publish_occupancy_grid (attribute)
  • show_image_frames (attribute)
  • set_object_size (attribute)
  • set_focal_length (attribute)
  • clear_findings (attribute)
  • set_map_size (function)
  • clear_findins (function)
• Tasks
  • track

A GenoM module for the ColorTracker using a monocular camera.

Ports

DronePose (in)

Data structure struct ::or_pose_estimator::state DronePose struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

The pose of the drone.

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Frame (in)

Data structure struct ::or::sensor::frame Frame struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

The image frame to process.

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Intrinsics (in)

Data structure struct ::or::sensor::intrinsics Intrinsics struct ::or::sensor::calibration calib float fx float fy float cx float cy float gamma struct ::or::sensor::distortion disto float k1 float k2 float k3 float p1 float p2

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Extrinsics (in)

Data structure struct ::or::sensor::extrinsics Extrinsics struct ::or::sensor::translation trans float tx float ty float tz struct ::or::sensor::rotation rot float roll float pitch float yaw

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OccupancyGrid (out)

Data structure struct ::or::Environment::OccupancyGrid OccupancyGrid sequence< octet > data octet width octet height double resolution double origin_x double origin_y

To visualise the findings in desired tool.

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PlatesInfo (out)

Data structure struct ::or::ColorTrack::PlateSequence PlatesInfo sequence< struct ::or::ColorTrack::PlateInfo > seq short index unsigned long num_blobs enum ::or::ColorTrack::PlateState state ∈ { UNKNOWN, INTERESTING, TREATED, NOT_NTERESTING } struct ::or::t3d::pos coord double x double y double z octet num_interesing_spots

Information on detected blobs over time.

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TargetPose (out)

Data structure struct ::or_rigid_body::state TargetPose struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::jerk > jerk double jx double jy double jz optional< struct ::or::t3d::snap > snap double sx double sy double sz

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output (multiple out)

Data structure struct ::or::sensor::frame output struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

The image frame with the detected object.

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mask (out)

Data structure struct ::or::sensor::frame mask struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

The color of the object to track.

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Services

color_track (activity)

Throws exception ::ColorTracker::e_OUT_OF_MEM short code string<128> message exception ::ColorTracker::e_BAD_IMAGE_PORT short code string<128> message exception ::ColorTracker::e_BAD_POSE_PORT short code string<128> message exception ::ColorTracker::e_BAD_OG_PORT short code string<128> message exception ::ColorTracker::e_BAD_TARGET_PORT short code string<128> message exception ::ColorTracker::e_OPENCV_ERROR short code string<128> message

Context In task track (frequency 10.0 Hz) Reads port DronePose (in) Reads port Frame (in) Reads port Intrinsics (in) Reads port Extrinsics (in) Updates port OccupancyGrid (out) Updates port PlatesInfo (out) Updates port output (multiple out) Interrupts color_track (activity)

Detect the color and keep track of coordinates from the image.

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clear_findings (activity)

Throws exception ::ColorTracker::e_OUT_OF_MEM short code string<128> message exception ::ColorTracker::e_BAD_IMAGE_PORT short code string<128> message exception ::ColorTracker::e_BAD_TARGET_PORT short code string<128> message

Context In task track (frequency 10.0 Hz) Updates port PlatesInfo (out)

Clear the found plates sequence.

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set_color (attribute)

Inputs struct ::or::ColorTrack::ColorInfo color: Color to be detected long r long g long b long threshold

Throws exception ::ColorTracker::e_OPENCV_ERROR short code string<128> message

Set the color to be detected.

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set_debug (attribute)

Inputs boolean debug Debug mode

Set the debug mode.

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set_camera_pose (attribute)

Inputs struct ::ColorTracker::Pose camera_pose: Camera pose float x float y float z float roll float pitch float yaw

Set the camera pose with respect to robot frame.

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set_map_size (attribute)

Inputs float width (default "10") Estimated map width float height (default "10") Estimated map height

Set the size of the map.

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set_distance_threshold (attribute)

Inputs float distance_threshold Distance threshold to sample the coordinates

Set the distance threshold to sample the coordinates using linear interpolation.

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perform_tracking (attribute)

Inputs boolean start_tracking Start tracking the object

Start tracking the object.

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set_verbose_level (attribute)

Inputs octet verbose_level Verbose level

Set the verbose level.

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publish_occupancy_grid (attribute)

Inputs boolean publish_og Publish occupancy grid

Publish the occupancy grid.

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show_image_frames (attribute)

Inputs boolean show_frames Show image frames

Show image frames.

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set_object_size (attribute)

Inputs float width Object width float height Object length / height

Set the size of the object.

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set_focal_length (attribute)

Inputs float focal_length Focal length of the object at a distance of 1 meter

Set the focal length of the object at 1 m.

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clear_findings (attribute)

Inputs boolean clear_findings Clear the findings of plates

Clear the plates info findings.

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set_map_size (function)

Inputs octet map_width Estimated map width octet map_height Estimated map height

Throws exception ::ColorTracker::e_BAD_OG_PORT short code string<128> message

Set the size of the map.

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clear_findins (function)

Throws exception ::ColorTracker::e_OUT_OF_MEM short code string<128> message

Clear the findings.

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Tasks

track

Context Frequency 10.0 Hz Updates port output (multiple out)

Throws exception ::ColorTracker::e_OUT_OF_MEM short code string<128> message exception ::ColorTracker::e_BAD_IMAGE_PORT short code string<128> message

Track the object in the image.

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