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fixed some quirks (camera viewer + tag working)

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matlabbe
2026-05-18 10:53:52 -07:00
parent 81c08570cd
commit 0b2a4656ab
6 changed files with 63 additions and 29 deletions
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corelib/src/MarkerDetector.cpp
+17 -10
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@@ -432,8 +432,8 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
}
apriltagLibFamily_ = createAprilTagPredefinedDictionary(dictFamily);
UASSERT_MSG(apriltagLibFamily_ != NULL, uFormat("AprilTag library cannot be used with dictionary type %d", (int)dictionaryId_).c_str());
errno = 0;
apriltag_detector_add_family(((apriltag_detector_t*)apriltagLibDetector_), (apriltag_family_t*)apriltagLibFamily_);
if (errno == ENOMEM) {
UFATAL("Unable to add family to detector due to insufficient memory to allocate the tag-family decoder with the default maximum hamming value of 2. Try choosing an alternative tag family.");
}
@@ -454,6 +454,7 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
// deprecated
std::map<int, Transform> MarkerDetector::detect(const cv::Mat & image, const CameraModel & model, const cv::Mat & depth, float * markerLengthOut, cv::Mat * imageWithDetections)
{
UDEBUG("");
std::map<int, Transform> detections;
std::map<int, MarkerInfo> infos = detect(image, model, depth, std::map<int, float>(), imageWithDetections);
@@ -513,8 +514,8 @@ std::map<int, MarkerInfo> MarkerDetector::detect(const cv::Mat & image,
}
image_u8_t im = {grayImage.cols, grayImage.rows, (int)grayImage.step, grayImage.data};
errno = 0;
zarray_t *apriltagDetections = apriltag_detector_detect(((apriltag_detector_t*)apriltagLibDetector_), &im);
if (errno == EAGAIN) {
UERROR("Unable to create the %d threads requested.", ((apriltag_detector_t*)apriltagLibDetector_)->nthreads);
if(apriltagDetections)
@@ -844,7 +845,6 @@ std::map<int, MarkerInfo> MarkerDetector::detect(const cv::Mat & image,
if(imageWithDetections)
{
#ifdef HAVE_OPENCV_ARUCO
if(image.channels()==1)
{
cv::cvtColor(image, *imageWithDetections, cv::COLOR_GRAY2BGR);
@@ -853,32 +853,38 @@ std::map<int, MarkerInfo> MarkerDetector::detect(const cv::Mat & image,
{
image.copyTo(*imageWithDetections);
}
if(!ids.empty())
{
#ifdef HAVE_OPENCV_ARUCO
cv::aruco::drawDetectedMarkers(*imageWithDetections, corners, ids);
#else
UWARN("RTAB-Map is not built with \"aruco\" module from OpenCV. Cannot draw markers on image.");
#endif
for(unsigned int i = 0; i < ids.size(); i++)
{
std::map<int, MarkerInfo>::iterator iter = detections.find(ids[i]);
if(iter!=detections.end())
{
int cam = cams[i];
UASSERT(cam >=0 && cam < (int)models.size());
const CameraModel & model = models[cam];
cv::Mat subImage(*imageWithDetections, cv::Rect(subRGBWidth*i, 0, subRGBWidth, imageWithDetections->rows));
int roix = subRGBWidth*cam;
UASSERT(roix >=0 && roix <= imageWithDetections->cols - subRGBWidth);
cv::Mat subImage(*imageWithDetections, cv::Rect(roix, 0, subRGBWidth, imageWithDetections->rows));
cv::Vec3d rvec;
cv::Vec3d tvec(poses[i].x(), poses[i].y(), poses[i].z());
cv::Rodrigues(poses[i].rotationMatrix(), rvec);
cv::Mat R;
poses[i].rotationMatrix().convertTo(R, CV_64F);
cv::Rodrigues(R, rvec);
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION >1 || (CV_MINOR_VERSION==1 && CV_PATCH_VERSION>=1)))
cv::drawFrameAxes(subImage, model.K(), model.D(), rvec, tvec, iter->second.length() * 0.5f);
#else
#elif defined(HAVE_OPENCV_ARUCO)
cv::aruco::drawAxis(subImage, model.K(), model.D(), rvec, tvec, iter->second.length() * 0.5f);
#endif
}
}
}
#else
UERROR("RTAB-Map is not built with \"aruco\" module from OpenCV. Cannot draw markers on image.");
#endif
}
return detections;
@@ -890,6 +896,7 @@ std::map<int, MarkerInfo> MarkerDetector::detect(const cv::Mat & image,
const std::map<int, float> & markerLengths,
cv::Mat * imageWithDetections)
{
UDEBUG("");
if(!image.empty() && image.cols != model.imageWidth())
{
UERROR("This method cannot handle multi-camera marker detection, use the other function version supporting it.");