Support AprilTAg library not built with aruco

CMakeLists.txt

@@ -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

@@ -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

@@ -534,9 +534,9 @@ IF(FastCV_FOUND)
 ENDIF(FastCV_FOUND)
 
 IF(apriltag_FOUND)
-	SET(PUBLIC_LIBRARIES
+	SET(LIBRARIES
-		${PUBLIC_LIBRARIES}
 		apriltag::apriltag
+		${LIBRARIES}
 	)
 ENDIF(apriltag_FOUND)
 

corelib/src/MarkerDetector.cpp

@@ -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. "
+			UERROR("Cannot set ARUCO_ORIGINAL (%d) dictionary with AprilTag library implementation. "
-					"Use opencv-aruco implementation instead. Setting %s to default (%d)",
+					"Use opencv-aruco implementation instead. Setting %s to default apriltag dictionary (%d)",
+					dictionaryId_,
 					Parameters::kMarkerDictionary().c_str(),
-					Parameters::defaultMarkerDictionary());
+					cv::aruco::DICT_APRILTAG_36h11);
-			dictionaryId_ = Parameters::defaultMarkerDictionary();
+			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

@@ -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

@@ -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->MarkerLength->setObjectName(Parameters::kMarkerLength().c_str());
-	_ui->ArucoMaxDepthError->setObjectName(Parameters::kMarkerMaxDepthError().c_str());
+	_ui->MarkerLengths->setObjectName(Parameters::kMarkerLengths().c_str());
-	_ui->ArucoVarianceLinear->setObjectName(Parameters::kMarkerVarianceLinear().c_str());
+	_ui->MarkerMaxDepthError->setObjectName(Parameters::kMarkerMaxDepthError().c_str());
-	_ui->ArucoVarianceAngular->setObjectName(Parameters::kMarkerVarianceAngular().c_str());
+	_ui->MarkerVarianceLinear->setObjectName(Parameters::kMarkerVarianceLinear().c_str());
-	_ui->ArucoVarianceOrientationIgnored->setObjectName(Parameters::kMarkerVarianceOrientationIgnored().c_str());
+	_ui->MarkerVarianceAngular->setObjectName(Parameters::kMarkerVarianceAngular().c_str());
-	_ui->ArucoMarkerRangeMin->setObjectName(Parameters::kMarkerMinRange().c_str());
+	_ui->MarkerVarianceOrientationIgnored->setObjectName(Parameters::kMarkerVarianceOrientationIgnored().c_str());
-	_ui->ArucoMarkerRangeMax->setObjectName(Parameters::kMarkerMaxRange().c_str());
+	_ui->MarkerRangeMin->setObjectName(Parameters::kMarkerMinRange().c_str());
-	_ui->ArucoMarkerPriors->setObjectName(Parameters::kMarkerPriors().c_str());
+	_ui->MarkerRangeMax->setObjectName(Parameters::kMarkerMaxRange().c_str());
-	_ui->ArucoPriorsVarianceLinear->setObjectName(Parameters::kMarkerPriorsVarianceLinear().c_str());
+	_ui->MarkerPriors->setObjectName(Parameters::kMarkerPriors().c_str());
-	_ui->ArucoPriorsVarianceAngular->setObjectName(Parameters::kMarkerPriorsVarianceAngular().c_str());
+	_ui->MarkerPriorsVarianceLinear->setObjectName(Parameters::kMarkerPriorsVarianceLinear().c_str());
-	_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kMarkerOpenCVCornerRefinementMethod().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

@@ -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">
+                            <widget class="QDoubleSpinBox" name="apriltag_quad_decimate">
-                             <property name="minimum">
+                             <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>