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Support AprilTAg library not built with aruco

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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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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
}