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Added marker range support

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This commit is contained in:
matlabbe
2026-05-15 07:47:47 -07:00
parent 822bbd98ac
commit 344812f127
3 changed files with 53 additions and 10 deletions
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corelib/src/MarkerDetector.cpp
+41 -5
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@@ -266,10 +266,46 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
}
else
{
int id = uStr2Int(items.front());
float length = uStr2Float(items.back());
UDEBUG("Adding marker %d with length %f", id, length);
markerLengths_.insert(std::make_pair(id, length));
if(uStrContains(items.front(), ":"))
{
std::list<std::string> range = uSplit(items.front(), ':');
if(range.size() != 2)
{
UERROR("Invalid string format \"%s\" for parameter %s, make "
"sure the values are separated by single space and/or '|'. See "
"description of the parameter for example. That parameter "
"will be ignored.",
strLengths.c_str(),
Parameters::kMarkerLengths().c_str());
markerLengths_.clear();
break;
}
int id1 = uStr2Int(range.front());
int id2 = uStr2Int(range.back());
UDEBUG("Adding a range of markers %d -> %d with length %f", id1, id2, length);
for(int id=id1; id<=id2; ++id)
{
auto inserted = markerLengths_.insert(std::make_pair(id, length));
if(!inserted.second)
{
UWARN("Marker %d is already configured with length %f, not overwriting", inserted.first->first, inserted.first->second);
}
}
}
else {
int id = uStr2Int(items.front());
auto inserted = markerLengths_.insert(std::make_pair(id, length));
if(!inserted.second)
{
UWARN("Marker %d is already configured with length %f, overwriting with %f", inserted.first->first, inserted.first->second, length);
inserted.first->second = length;
}
else
{
UDEBUG("Added marker %d with length %f", id, length);
}
}
}
}
}
@@ -342,7 +378,7 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
{
#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;
strategy_ = kStrategyApriltag;
#else
UERROR("RTAB-Map is not built with opencv-aruco library!");
#endif
@@ -407,7 +443,7 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
{
#ifdef HAVE_OPENCV_ARUCO
UERROR("RTAB-Map is not built with apriltag library! Fallback to OpenCV (%s=0).", Parameters::kMarkerStrategy().c_str());
strategy_ = 0;
strategy_ = kStrategyOpencv;
#else
UERROR("RTAB-Map is not built with apriltag library!");
#endif