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Adding support for AprilTag v3 library

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matlabbe
2026-05-12 17:05:40 -07:00
parent afe8aadff1
commit 19515f0c65
6 changed files with 208 additions and 42 deletions
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corelib/include/rtabmap/core/MarkerDetector.h
+12 -3
View File
@@ -57,6 +57,12 @@ private:
};
class RTABMAP_CORE_EXPORT MarkerDetector {
public:
enum Strategy {
kStrategyOpencv,
kStrategyApriltag
};
public:
MarkerDetector(const ParametersMap & parameters = ParametersMap());
@@ -84,15 +90,18 @@ public:
cv::Mat * imageWithDetections = 0);
private:
#ifdef HAVE_OPENCV_ARUCO
cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
float markerLength_;
Strategy strategy_;
float markerLength_;
float maxDepthError_;
float maxRange_;
float minRange_;
int dictionaryId_;
#ifdef HAVE_OPENCV_ARUCO
cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
cv::Ptr<cv::aruco::Dictionary> dictionary_;
#endif
void * apriltagLibDetector_;
void * apriltagLibFamily_;
};
} /* namespace rtabmap */
corelib/include/rtabmap/core/Parameters.h
+1
View File
@@ -917,6 +917,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
RTABMAP_PARAM(GridGlobal, FloodFillDepth, unsigned int, 0, "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.");
RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
RTABMAP_PARAM(Marker, Dictionary, int, 0, "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20");
RTABMAP_PARAM(Marker, Length, float, 0, "The length (m) of the markers' side. 0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization).");
RTABMAP_PARAM(Marker, MaxDepthError, float, 0.01, uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()));