1 files changed, 19 insertions, 0 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoTracker.py b/src/argaze/ArUcoMarkers/ArUcoTracker.py
index 363a5bb..6a71e86 100644
--- a/src/argaze/ArUcoMarkers/ArUcoTracker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoTracker.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 
 import json
+from collections import Counter
 
 from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera
 
@@ -74,6 +75,10 @@ class ArUcoTracker():
         self.__board_corners = []
         self.__board_corners_ids = []
 
+        # define track metrics data
+        self.__track_count = 0
+        self.__tracked_markers = []
+
     def load_configuration_file(self, configuration_filepath):
         """Load aruco detection parameters from .json file."""
         
@@ -108,6 +113,11 @@ class ArUcoTracker():
         gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
         self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__detector_parameters)
 
+        # update track metrics
+        self.__track_count += 1
+        for marker_id in self.get_markers_ids():
+            self.__tracked_markers.append(marker_id)
+
         if len(self.__markers_corners) > 0 and estimate_pose:
 
             # markers pose estimation
@@ -163,6 +173,15 @@ class ArUcoTracker():
 
             cv.drawChessboardCorners(frame, ((self.__board.get_size()[0] - 1 ), (self.__board.get_size()[1] - 1)), self.__board_corners, True)
 
+    def reset_track_metrics(self):
+        """Enable marker tracking metrics."""
+        self.__track_count = 0
+        self.__tracked_markers = []
+
+    def get_track_metrics(self):
+        """Get marker tracking metrics."""
+        return self.__track_count, Counter(self.__tracked_markers)
+
     def get_markers_dictionay(self):
         """Get tracked aruco markers dictionary."""
         return self.__aruco_dict