TagDetector Cleanup and Update RoveComm_CPP Submodule

src/handlers/TagDetectionHandler.h

@@ -34,7 +34,6 @@ class TagDetectionHandler
         TagDetector* m_pTagDetectorMainCam;
         TagDetector* m_pTagDetectorLeftCam;
         TagDetector* m_pTagDetectorRightCam;
-        TagDetector* m_pTagDetectorGroundCam;
         RecordingHandler* m_pRecordingHandler;
 
     public:

src/vision/aruco/ArucoDetection.hpp

@@ -86,7 +86,7 @@
      *      to not alter the original in case it's used after the call to this function
      *      completes.
      *
-     * @param cvInputFrame - cv::Mat of the image to pre-process.
+     * @param cvInputFrame - cv::Mat of the image to pre-process. This image should be in BGR format.
      * @param cvOutputFrame - cv::Mat to write the pre-processed image to.
      *
      * @todo Determine optimal order for speed
@@ -95,9 +95,17 @@
      ******************************************************************************/
     inline void PreprocessFrame(const cv::Mat& cvInputFrame, cv::Mat& cvOutputFrame)
     {
+        // Check if the input frame is in BGR format.
+        if (cvInputFrame.channels() != 3)
+        {
+            // Submit logger message.
+            LOG_ERROR(logging::g_qSharedLogger, "PreprocessFrame() requires a BGR image.");
+            return;
+        }
+
         // Grayscale.
-        cv::cvtColor(cvInputFrame, cvOutputFrame, cv::COLOR_BGRA2GRAY);
-        cv::filter2D(cvOutputFrame, cvInputFrame, -1, constants::ARUCO_SHARPEN_KERNEL_EXTRA);
+        cv::cvtColor(cvInputFrame, cvOutputFrame, cv::COLOR_BGR2GRAY);
+        cv::filter2D(cvOutputFrame, cvOutputFrame, -1, constants::ARUCO_SHARPEN_KERNEL_EXTRA);
         // Reduce number of colors/gradients in the image.
         // imgops::ColorReduce(cvOutputFrame);
         // Denoise (Looks like bilateral filter is req. for ArUco, check speed since docs say it's slow)
@@ -120,7 +128,7 @@
     /******************************************************************************
      * @brief Detect ArUco tags in the provided image.
      *
-     * @param cvFrame - The camera frame to run ArUco detection on. Should be BGR format.
+     * @param cvFrame - The camera frame to run ArUco detection on. Should be BGR format or grayscale.
      * @param cvArucoDetector - The configured aruco detector to use for detection.
      * @return std::vector<ArucoTag> - The resultant vector containing the detected tags in the frame.
      *

src/vision/aruco/TagDetector.cpp

@@ -235,6 +235,8 @@
                     // Download mat from GPU memory.
                     m_cvGPUPointCloud.download(m_cvPointCloud);
                     m_cvGPUFrame.download(m_cvFrame);
+                    // Drop the Alpha channel from the image copy to preproc frame.
+                    cv::cvtColor(m_cvFrame, m_cvFrame, cv::COLOR_BGRA2RGB);
                 }
                 else
                 {
@@ -259,6 +261,11 @@
                     // Submit logger message.
                     LOG_WARNING(logging::g_qSharedLogger, "TagDetector unable to get regular frame from ZEDCam!");
                 }
+                else
+                {
+                    // Drop the Alpha channel from the image copy to preproc frame.
+                    cv::cvtColor(m_cvFrame, m_cvFrame, cv::COLOR_BGRA2RGB);
+                }
             }
         }
         else
@@ -272,23 +279,34 @@
                 // Submit logger message.
                 LOG_WARNING(logging::g_qSharedLogger, "TagDetector unable to get point cloud from BasicCam!");
             }
+            else
+            {
+                // Check if the camera image is a >3 channel image.
+                if (m_cvFrame.channels() > 3)
+                {
+                    // Drop the Alpha channel from the image copy to preproc frame.
+                    cv::cvtColor(m_cvFrame, m_cvFrame, cv::COLOR_BGRA2RGB);
+                }
+            }
         }
 
         /////////////////////////////////////////
         // Actual detection logic goes here.
         /////////////////////////////////////////
-        // Drop the Alpha channel from the image copy to preproc frame.
-        cv::cvtColor(m_cvFrame, m_cvArucoProcFrame, cv::COLOR_BGRA2BGR);
         // Run image through some pre-processing step to improve detection.
-        arucotag::PreprocessFrame(m_cvArucoProcFrame, m_cvArucoProcFrame);
+        arucotag::PreprocessFrame(m_cvFrame, m_cvArucoProcFrame);
         // Detect tags in the image
         std::vector<arucotag::ArucoTag> vNewlyDetectedTags = arucotag::Detect(m_cvArucoProcFrame, m_cvArucoDetector);
 
-        // Estimate the positions of the tags using the point cloud
-        for (arucotag::ArucoTag& stTag : vNewlyDetectedTags)
+        // Only estimate the pose of the tags if the point cloud is available and we are using a ZED camera.
+        if (m_bUsingZedCamera && !m_cvPointCloud.empty())
         {
-            // Use the point cloud to get the location of the tag.
-            arucotag::EstimatePoseFromPointCloud(m_cvPointCloud, stTag);
+            // Estimate the positions of the tags using the point cloud
+            for (arucotag::ArucoTag& stTag : vNewlyDetectedTags)
+            {
+                // Use the point cloud to get the location of the tag.
+                arucotag::EstimatePoseFromPointCloud(m_cvPointCloud, stTag);
+            }
         }
         // Merge the newly detected tags with the pre-existing detected tags
         this->UpdateDetectedTags(vNewlyDetectedTags);

src/vision/aruco/TensorflowTagDetection.hpp

@@ -98,6 +98,14 @@
                                              const float fMinObjectConfidence = 0.40f,
                                              const float fNMSThreshold        = 0.60f)
     {
+        // Check if the input frame is in RGB format.
+        if (cvFrame.channels() != 3)
+        {
+            // Submit logger message.
+            LOG_ERROR(logging::g_qSharedLogger, "Detect() requires a RGB image.");
+            return {};
+        }
+
         // Declare instance variables.
         std::vector<TensorflowTag> vDetectedTags;