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Support AprilTAg library not built with aruco

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This commit is contained in:
matlabbe
2026-05-14 22:13:30 -07:00
parent 531eee6357
commit 2e00532c7d
7 changed files with 170 additions and 60 deletions
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CMakeLists.txt
+12 -2
View File
@@ -870,7 +870,14 @@ ENDIF(WITH_FASTCV)
IF(WITH_APRILTAG)
FIND_PACKAGE(apriltag QUIET)
IF(apriltag_FOUND)
MESSAGE(STATUS "Found apriltag")
get_target_property(APRILTAG_LOCATION apriltag::apriltag LOCATION)
get_target_property(APRILTAG_INCLUDES apriltag::apriltag INTERFACE_INCLUDE_DIRECTORIES)
FIND_FILE(apriltag_aruco_4x4_50_header NAMES tagAruco4x4_50.h PATH_SUFFIXES aruco PATHS ${APRILTAG_INCLUDES} NO_DEFAULT_PATH)
SET(WITH_APRILTAG_ARUCO False)
IF(apriltag_aruco_4x4_50_header)
SET(WITH_APRILTAG_ARUCO True)
ENDIF()
MESSAGE(STATUS "Found apriltag (with aruco=${WITH_APRILTAG_ARUCO}): ${APRILTAG_LOCATION} ${APRILTAG_INCLUDES}")
ENDIF(apriltag_FOUND)
ENDIF(WITH_APRILTAG)
@@ -1076,7 +1083,10 @@ IF(NOT FastCV_FOUND)
ENDIF(NOT FastCV_FOUND)
IF(NOT apriltag_FOUND)
SET(APRILTAG "//")
ENDIF(NOT apriltag_FOUND)
SET(APRILTAG_ARUCO "//")
ELSEIF(NOT WITH_APRILTAG_ARUCO)
SET(APRILTAG_ARUCO "//")
ENDIF()
IF(NOT opengv_FOUND OR NOT WITH_OPENGV)
SET(OPENGV "//")
ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV)
Version.h.in
+1
View File
@@ -94,6 +94,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@PYTHON@#define RTABMAP_PYTHON
@MADGWICK@#define RTABMAP_MADGWICK
@APRILTAG@#define RTABMAP_APRILTAG
@APRILTAG_ARUCO@#define RTABMAP_APRILTAG_WITH_ARUCO
#include <pcl/pcl_config.h>
corelib/src/CMakeLists.txt
+2 -2
View File
@@ -534,9 +534,9 @@ IF(FastCV_FOUND)
ENDIF(FastCV_FOUND)
IF(apriltag_FOUND)
SET(PUBLIC_LIBRARIES
${PUBLIC_LIBRARIES}
SET(LIBRARIES
apriltag::apriltag
${LIBRARIES}
)
ENDIF(apriltag_FOUND)
corelib/src/MarkerDetector.cpp
+53 -15
View File
@@ -47,6 +47,7 @@ namespace cv{
extern "C" {
#include "apriltag/apriltag.h"
#include "apriltag/apriltag_pose.h"
#ifdef RTABMAP_APRILTAG_WITH_ARUCO
#include "apriltag/aruco/tagAruco4x4_50.h"
#include "apriltag/aruco/tagAruco4x4_100.h"
#include "apriltag/aruco/tagAruco4x4_250.h"
@@ -63,11 +64,12 @@ extern "C" {
#include "apriltag/aruco/tagAruco7x7_100.h"
#include "apriltag/aruco/tagAruco7x7_250.h"
#include "apriltag/aruco/tagAruco7x7_1000.h"
#include "apriltag/aruco/tagArucoMIP36h12.h"
#endif
#include "apriltag/tag16h5.h"
#include "apriltag/tag25h9.h"
#include "apriltag/tag36h10.h"
#include "apriltag/tag36h11.h"
#include "apriltag/aruco/tagArucoMIP36h12.h"
}
#ifndef HAVE_OPENCV_ARUCO
@@ -121,6 +123,11 @@ apriltag_family_t * createAprilTagPredefinedDictionary(int opencvArucoDictionary
apriltag_family_t * af = NULL;
switch(opencvArucoDictionary)
{
APRILTAG_CASE(16, 5)
APRILTAG_CASE(25, 9)
APRILTAG_CASE(36, 10)
APRILTAG_CASE(36, 11)
#ifdef RTABMAP_APRILTAG_WITH_ARUCO
ARUCO_CASE(4, 50)
ARUCO_CASE(4, 100)
ARUCO_CASE(4, 250)
@@ -137,14 +144,10 @@ apriltag_family_t * createAprilTagPredefinedDictionary(int opencvArucoDictionary
ARUCO_CASE(7, 100)
ARUCO_CASE(7, 250)
ARUCO_CASE(7, 1000)
APRILTAG_CASE(16, 5)
APRILTAG_CASE(25, 9)
APRILTAG_CASE(36, 10)
APRILTAG_CASE(36, 11)
case cv::aruco::DICT_ARUCO_MIP_36h12:
af = tagArucoMIP36h12_create();
break;
#endif
default:
break;
}
@@ -157,7 +160,12 @@ void destroyAprilTagDictionary(apriltag_family_t * dictionary)
return;
}
const char* name = dictionary->name;
if(strcmp(name, "tagAruco4x4_50") == 0) tagAruco4x4_50_destroy(dictionary);
if(strcmp(name, "tag16h5") == 0) tag16h5_destroy(dictionary);
else if(strcmp(name, "tag25h9") == 0) tag25h9_destroy(dictionary);
else if(strcmp(name, "tag36h10") == 0) tag36h10_destroy(dictionary);
else if(strcmp(name, "tag36h11") == 0) tag36h11_destroy(dictionary);
#ifdef RTABMAP_APRILTAG_WITH_ARUCO
else if(strcmp(name, "tagAruco4x4_50") == 0) tagAruco4x4_50_destroy(dictionary);
else if(strcmp(name, "tagAruco4x4_100") == 0) tagAruco4x4_100_destroy(dictionary);
else if(strcmp(name, "tagAruco4x4_250") == 0) tagAruco4x4_250_destroy(dictionary);
else if(strcmp(name, "tagAruco4x4_1000") == 0) tagAruco4x4_1000_destroy(dictionary);
@@ -173,11 +181,8 @@ void destroyAprilTagDictionary(apriltag_family_t * dictionary)
else if(strcmp(name, "tagAruco7x7_100") == 0) tagAruco7x7_100_destroy(dictionary);
else if(strcmp(name, "tagAruco7x7_250") == 0) tagAruco7x7_250_destroy(dictionary);
else if(strcmp(name, "tagAruco7x7_1000") == 0) tagAruco7x7_1000_destroy(dictionary);
else if(strcmp(name, "tag16h5") == 0) tag16h5_destroy(dictionary);
else if(strcmp(name, "tag25h9") == 0) tag25h9_destroy(dictionary);
else if(strcmp(name, "tag36h10") == 0) tag36h10_destroy(dictionary);
else if(strcmp(name, "tag36h11") == 0) tag36h11_destroy(dictionary);
else if(strcmp(name, "tagArucoMIP_36h12") == 0) tagArucoMIP36h12_destroy(dictionary);
#endif
else
{
UFATAL("AprilTag: Didn't find the right desctructor for dictionary \"%s\"", name);
@@ -332,6 +337,16 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
dictionary_.reset(new cv::aruco::Dictionary());
*dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(dictionaryId_));
#endif
#else
if(strategy_ == 0)
{
#ifdef RTABMAP_APRILTAG
UERROR("RTAB-Map is not built with opencv-aruco library! Fallback to AprilTag strategy (%s=1).", Parameters::kMarkerStrategy().c_str());
strategy_ = 1;
#else
UERROR("RTAB-Map is not built with opencv-aruco library!");
#endif
}
#endif
#ifdef RTABMAP_APRILTAG
@@ -357,13 +372,26 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMarkerAprilTagDebug(), ((apriltag_detector_t*)apriltagLibDetector_)->debug);
cv::aruco::PredefinedDictionaryType dictFamily = cv::aruco::PredefinedDictionaryType(dictionaryId_);
#ifndef RTABMAP_APRILTAG_WITH_ARUCO
if((dictFamily >= cv::aruco::DICT_4X4_50 && dictFamily < cv::aruco::DICT_APRILTAG_16h5) || dictFamily==cv::aruco::DICT_ARUCO_MIP_36h12)
{
UERROR("Cannot set aruco dictionaries with current AprilTag library version. "
"Use opencv-aruco implementation instead or rebuild/install latest "
"AprilTag from source. Setting %s to default apriltag dictionary (%d)",
Parameters::kMarkerDictionary().c_str(),
cv::aruco::DICT_APRILTAG_36h11);
dictionaryId_ = cv::aruco::DICT_APRILTAG_36h11;
dictFamily = cv::aruco::PredefinedDictionaryType(dictionaryId_);
}
#endif
if(dictFamily == cv::aruco::DICT_ARUCO_ORIGINAL)
{
UERROR("Cannot set ARUCO_ORIGINAL dictionary with AprilTag library implementation. "
"Use opencv-aruco implementation instead. Setting %s to default (%d)",
UERROR("Cannot set ARUCO_ORIGINAL (%d) dictionary with AprilTag library implementation. "
"Use opencv-aruco implementation instead. Setting %s to default apriltag dictionary (%d)",
dictionaryId_,
Parameters::kMarkerDictionary().c_str(),
Parameters::defaultMarkerDictionary());
dictionaryId_ = Parameters::defaultMarkerDictionary();
cv::aruco::DICT_APRILTAG_36h11);
dictionaryId_ = cv::aruco::DICT_APRILTAG_36h11;
dictFamily = cv::aruco::PredefinedDictionaryType(dictionaryId_);
}
apriltagLibFamily_ = createAprilTagPredefinedDictionary(dictFamily);
@@ -374,6 +402,16 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
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.");
}
}
#else
if(strategy_ == 1)
{
#ifdef HAVE_OPENCV_ARUCO
UERROR("RTAB-Map is not built with apriltag library! Fallback to OpenCV (%s=0).", Parameters::kMarkerStrategy().c_str());
strategy_ = 0;
#else
UERROR("RTAB-Map is not built with apriltag library!");
#endif
}
#endif
}
guilib/include/rtabmap/gui/PreferencesDialog.h
+1
View File
@@ -364,6 +364,7 @@ private Q_SLOTS:
void updateStereoDisparityVisibility();
void updateFeatureMatchingVisibility();
void updateGlobalDescriptorVisibility();
void updateAvailableMarkerDictionaries();
void updateOdometryStackedIndex(int index);
void useOdomFeatures();
void changeWorkingDirectory();
guilib/src/PreferencesDialog.cpp
+74 -23
View File
@@ -475,16 +475,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_showOdomFrustums->setChecked(false);
#endif
//if OpenCV < 3.4.2
#if !defined(RTABMAP_APRILTAG) && (CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2))))
_ui->MarkerDictionary->setItemData(17, 0, Qt::UserRole - 1);
_ui->MarkerDictionary->setItemData(18, 0, Qt::UserRole - 1);
_ui->MarkerDictionary->setItemData(19, 0, Qt::UserRole - 1);
_ui->MarkerDictionary->setItemData(20, 0, Qt::UserRole - 1);
#endif
#if !defined(RTABMAP_APRILTAG) && (CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <8))
_ui->MarkerDictionary->setItemData(21, 0, Qt::UserRole - 1);
#endif
#if !defined(HAVE_OPENCV_ARUCO) && !defined(RTABMAP_APRILTAG)
_ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module and/or RTAB-Map has been built with AprilTag library support.");
#endif
@@ -1762,19 +1752,22 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Aruco marker
_ui->MarkerStrategy->setObjectName(Parameters::kMarkerStrategy().c_str());
connect(_ui->MarkerStrategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_markerStrategy, SLOT(setCurrentIndex(int)));
connect(_ui->MarkerStrategy, SIGNAL(currentIndexChanged(int)), this, SLOT(updateAvailableMarkerDictionaries()));
_ui->MarkerStrategy->setCurrentIndex(Parameters::defaultMarkerStrategy());
updateAvailableMarkerDictionaries();
_ui->MarkerDictionary->setObjectName(Parameters::kMarkerDictionary().c_str());
_ui->ArucoMarkerLength->setObjectName(Parameters::kMarkerLength().c_str());
_ui->ArucoMaxDepthError->setObjectName(Parameters::kMarkerMaxDepthError().c_str());
_ui->ArucoVarianceLinear->setObjectName(Parameters::kMarkerVarianceLinear().c_str());
_ui->ArucoVarianceAngular->setObjectName(Parameters::kMarkerVarianceAngular().c_str());
_ui->ArucoVarianceOrientationIgnored->setObjectName(Parameters::kMarkerVarianceOrientationIgnored().c_str());
_ui->ArucoMarkerRangeMin->setObjectName(Parameters::kMarkerMinRange().c_str());
_ui->ArucoMarkerRangeMax->setObjectName(Parameters::kMarkerMaxRange().c_str());
_ui->ArucoMarkerPriors->setObjectName(Parameters::kMarkerPriors().c_str());
_ui->ArucoPriorsVarianceLinear->setObjectName(Parameters::kMarkerPriorsVarianceLinear().c_str());
_ui->ArucoPriorsVarianceAngular->setObjectName(Parameters::kMarkerPriorsVarianceAngular().c_str());
_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kMarkerOpenCVCornerRefinementMethod().c_str());
_ui->MarkerLength->setObjectName(Parameters::kMarkerLength().c_str());
_ui->MarkerLengths->setObjectName(Parameters::kMarkerLengths().c_str());
_ui->MarkerMaxDepthError->setObjectName(Parameters::kMarkerMaxDepthError().c_str());
_ui->MarkerVarianceLinear->setObjectName(Parameters::kMarkerVarianceLinear().c_str());
_ui->MarkerVarianceAngular->setObjectName(Parameters::kMarkerVarianceAngular().c_str());
_ui->MarkerVarianceOrientationIgnored->setObjectName(Parameters::kMarkerVarianceOrientationIgnored().c_str());
_ui->MarkerRangeMin->setObjectName(Parameters::kMarkerMinRange().c_str());
_ui->MarkerRangeMax->setObjectName(Parameters::kMarkerMaxRange().c_str());
_ui->MarkerPriors->setObjectName(Parameters::kMarkerPriors().c_str());
_ui->MarkerPriorsVarianceLinear->setObjectName(Parameters::kMarkerPriorsVarianceLinear().c_str());
_ui->MarkerPriorsVarianceAngular->setObjectName(Parameters::kMarkerPriorsVarianceAngular().c_str());
_ui->OpenCVCornerRefinementMethod->setObjectName(Parameters::kMarkerOpenCVCornerRefinementMethod().c_str());
_ui->apriltag_nthreads->setObjectName(Parameters::kMarkerAprilTagNThreads().c_str());
_ui->apriltag_quad_decimate->setObjectName(Parameters::kMarkerAprilTagQuadDecimate().c_str());
_ui->apriltag_quad_sigma->setObjectName(Parameters::kMarkerAprilTagQuadSigma().c_str());
@@ -3970,9 +3963,20 @@ bool PreferencesDialog::validateForm()
if(_ui->MarkerDictionary->currentIndex()>=21)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("opencv-aruco: cannot use selected dictionary (%1), OpenCV version should be at least 4.8.0. Setting back to 0.").arg(_ui->MarkerDictionary->currentIndex()));
tr("Opencv Strategy: cannot use selected dictionary (%1), OpenCV version should be at least 4.8.0. Setting back to 0.").arg(_ui->MarkerDictionary->currentIndex()));
_ui->MarkerDictionary->setCurrentIndex(0);
}
#endif
}
else if(_ui->MarkerStrategy->currentIndex() == 1)
{
#ifndef RTABMAP_APRILTAG_WITH_ARUCO
if(_ui->MarkerDictionary->currentIndex() < 17 || _ui->MarkerDictionary->currentIndex() == 21)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("AprilTag Strategy: cannot use selected dictionary (%1), AprilTag should be built with aruco support. Setting back to 17.").arg(_ui->MarkerDictionary->currentIndex()));
_ui->MarkerDictionary->setCurrentIndex(17);
}
#endif
}
return true;
@@ -5601,6 +5605,53 @@ void PreferencesDialog::updateGlobalDescriptorVisibility()
_ui->groupBox_pydescriptor->setVisible(_ui->comboBox_globalDescriptorExtractor->currentIndex() == 1);
}
void PreferencesDialog::updateAvailableMarkerDictionaries()
{
Qt::ItemFlags enableFlags = Qt::ItemIsEnabled | Qt::ItemIsSelectable;
for(int i=0;i<_ui->MarkerDictionary->count();++i) {
_ui->MarkerDictionary->setItemData(i, QVariant(static_cast<int>(enableFlags)), Qt::UserRole - 1);
}
if(_ui->MarkerStrategy->currentIndex() == 1) // AprilTag Strategy is selected
{
// ARUCO_ORIGINAL not available with AprilTag lib
_ui->MarkerDictionary->setItemData(16, 0, Qt::UserRole - 1);
#if !defined(RTABMAP_APRILTAG_WITH_ARUCO)
// disable all aruco dictionaries
for(int i=0;i<17;++i) {
_ui->MarkerDictionary->setItemData(i, 0, Qt::UserRole - 1);
}
_ui->MarkerDictionary->setItemData(21, 0, Qt::UserRole - 1);
if(_ui->MarkerDictionary->currentIndex() < 17 || _ui->MarkerDictionary->currentIndex() > 20)
{
_ui->MarkerDictionary->setCurrentIndex(20); // 36h11 by default
}
#endif
}
else //if(_ui->MarkerStrategy->currentIndex() == 0) // OpenCV Strategy is selected
{
//if OpenCV < 3.4.2
#if !defined(RTABMAP_APRILTAG) && (CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2))))
// disable all apriltag dictionaries
for(int i=17;i<21;++i) {
_ui->MarkerDictionary->setItemData(i, 0, Qt::UserRole - 1);
}
if(_ui->MarkerDictionary->currentIndex() >=17 && _ui->MarkerDictionary->currentIndex() <= 20)
{
_ui->MarkerDictionary->setCurrentIndex(Parameters::defaultMarkerDictionary());
}
#endif
#if !defined(RTABMAP_APRILTAG_WITH_ARUCO) && (CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <8))
// disable aruco MPI dictionary
_ui->MarkerDictionary->setItemData(21, 0, Qt::UserRole - 1);
if(_ui->MarkerDictionary->currentIndex() == 21)
{
_ui->MarkerDictionary->setCurrentIndex(Parameters::defaultMarkerDictionary());
}
#endif
}
}
void PreferencesDialog::updateOdometryStackedIndex(int index)
{
if(index == 11) // FLOAM -> LOAM
@@ -6265,7 +6316,7 @@ bool PreferencesDialog::isMarkerDetection() const
}
double PreferencesDialog::getMarkerLength() const
{
return _ui->ArucoMarkerLength->value();
return _ui->MarkerLength->value();
}
bool PreferencesDialog::isCloudMeshing() const
{
guilib/src/ui/preferencesDialog.ui
+27 -18
View File
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-526</y>
<y>0</y>
<width>684</width>
<height>5218</height>
</rect>
@@ -15529,14 +15529,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="ArucoVarianceOrientationIgnored">
<widget class="QCheckBox" name="MarkerVarianceOrientationIgnored">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="ArucoVarianceLinear">
<widget class="QDoubleSpinBox" name="MarkerVarianceLinear">
<property name="suffix">
<string/>
</property>
@@ -15555,7 +15555,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="ArucoMarkerLength">
<widget class="QDoubleSpinBox" name="MarkerLength">
<property name="suffix">
<string> m</string>
</property>
@@ -15587,7 +15587,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="ArucoMarkerRangeMax">
<widget class="QDoubleSpinBox" name="MarkerRangeMax">
<property name="suffix">
<string> m</string>
</property>
@@ -15648,7 +15648,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="13" column="0">
<widget class="QDoubleSpinBox" name="ArucoPriorsVarianceAngular">
<widget class="QDoubleSpinBox" name="MarkerPriorsVarianceAngular">
<property name="suffix">
<string/>
</property>
@@ -15818,7 +15818,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="11" column="0">
<widget class="QLineEdit" name="ArucoMarkerPriors">
<widget class="QLineEdit" name="MarkerPriors">
<property name="placeholderText">
<string/>
</property>
@@ -15854,7 +15854,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="ArucoMarkerRangeMin">
<widget class="QDoubleSpinBox" name="MarkerRangeMin">
<property name="suffix">
<string> m</string>
</property>
@@ -15915,7 +15915,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="ArucoMaxDepthError">
<widget class="QDoubleSpinBox" name="MarkerMaxDepthError">
<property name="suffix">
<string> m</string>
</property>
@@ -15941,7 +15941,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="ArucoPriorsVarianceLinear">
<widget class="QDoubleSpinBox" name="MarkerPriorsVarianceLinear">
<property name="suffix">
<string/>
</property>
@@ -15962,7 +15962,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="1" column="1">
<widget class="QLabel" name="label_space2_24">
<property name="text">
<string>Detector implementation. Note that both aruco and apriltag dictionaries can be used with either strategy.</string>
<string>Detector implementation. Note that both aruco and apriltag dictionaries may be used with either strategy. Scroll down to see specific parameters for the strategy used.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -15973,7 +15973,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="ArucoVarianceAngular">
<widget class="QDoubleSpinBox" name="MarkerVarianceAngular">
<property name="suffix">
<string/>
</property>
@@ -15995,7 +15995,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="4" column="0">
<widget class="QLineEdit" name="ArucoMarkerLengths">
<widget class="QLineEdit" name="MarkerLengths">
<property name="placeholderText">
<string/>
</property>
@@ -16019,7 +16019,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QStackedWidget" name="stackedWidget_markerStrategy">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_104">
<layout class="QVBoxLayout" name="verticalLayout_189">
@@ -16043,7 +16043,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="ArucoCornerRefinementMethod">
<widget class="QComboBox" name="OpenCVCornerRefinementMethod">
<item>
<property name="text">
<string>None</string>
@@ -16071,6 +16071,12 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
@@ -16230,12 +16236,15 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="apriltag_quad_decimate">
<property name="minimum">
<widget class="QDoubleSpinBox" name="apriltag_quad_decimate">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="value">
<number>2</number>
<double>2.000000000000000</double>
</property>
</widget>
</item>