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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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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>