[UNIHIKER K10][Arduino IDE][C++] Object Tracking

1. Object Tracking Code Example

Before You Start:

• [UNIHIKER K10][Arduino IDE][C++] Overview and Setup
• Object Tracking Function Guide

1.1 Track Object Output Related Data

When HUSKYLENS 2 detects a trackable target object, related tracking data can be obtained. The available data includes: object ID, name, xy coordinates, width, and height.

Example program is as follows.

#include "unihiker_k10.h"
#include "DFRobot_HuskylensV2.h"

// Create objects: Huskylens (tracking) & UNIHIKER K10 (screen)
HuskylensV2  huskylens;
UNIHIKER_K10 k10;
uint8_t      screen_dir = 2;  // Screen display direction (adjust as needed)


// Main program initialization
void setup() {
  k10.begin();          // Initialize UNIHIKER K10 hardware
  Wire.begin();         // Initialize I2C for Huskylens communication

  // Wait for Huskylens to connect (retry every 100ms until success)
  while (!huskylens.begin(Wire)) {
    delay(100);
  }

  k10.initScreen(screen_dir);       // Initialize screen with set direction
  k10.creatCanvas();                // Create canvas for screen display
  huskylens.switchAlgorithm(ALGORITHM_OBJECT_TRACKING);  // Set Huskylens to tracking mode
}

void loop() {
  huskylens.getResult(ALGORITHM_OBJECT_TRACKING);  // Fetch latest tracking data

  // Check if valid tracking data is available
  if (huskylens.available(ALGORITHM_OBJECT_TRACKING)) {
    // Get center object's data (simplify repeated calls)
    auto centerObj = huskylens.getCachedCenterResult(ALGORITHM_OBJECT_TRACKING);
    
    // Display object info (blue color: 0x0000FF)
    k10.canvas->canvasText(String("Obj ID: ") + String(RET_ITEM_NUM(centerObj, Result, ID)), 1, 0x0000FF);
    k10.canvas->canvasText(String("Obj Name: ") + String(RET_ITEM_STR(centerObj, Result, name)), 3, 0x0000FF);
    k10.canvas->canvasText(String("(x,y): ") + String(RET_ITEM_NUM(centerObj, Result, xCenter)) + String(","), 5, 0x0000FF);
    k10.canvas->canvasText(String(RET_ITEM_NUM(centerObj, Result, yCenter)), 6, 0x0000FF);  // Split coords to avoid line overflow
    k10.canvas->canvasText(String("(w,h): ") + String(RET_ITEM_NUM(centerObj, Result, width)) + String(","), 7, 0x0000FF);
    k10.canvas->canvasText(String(RET_ITEM_NUM(centerObj, Result, height)), 8, 0x0000FF);   // Split size to avoid line overflow
  }

  k10.canvas->updateCanvas();  // Refresh screen to show latest info
  delay(50);                   // Short delay to stabilize data reading
}

After uploading the program and waiting for completion, align the HUSKYLENS 2 camera with the target object (you must first box the target object, refer to the Object Tracking usage instructions: Object Tracking. Once boxed, aim at the target object to be tracked and observe the output.

Running Result:Outputs include the tracked object ID, name, xy coordinates, width, and height. The object name defaults to "Object". You can change the name in Settings.