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Fixed build with OpenCV 3.2 (ubuntu bionic). Added more devcontainers for different ubuntu versions for convenience.

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matlabbe
2024-06-30 19:11:14 -07:00
parent 7641f28250
commit 41fe47efdf
5 changed files with 74 additions and 7 deletions
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52
guilib/src/CalibrationDialog.cpp
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@@ -58,6 +58,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/ULogger.h>
#ifdef HAVE_CHARUCO
#define kArucoDictNameSize 21
static const char * kArucoDictNames[kArucoDictNameSize] = {
"4X4_50",
@@ -82,6 +83,7 @@ static const char * kArucoDictNames[kArucoDictNameSize] = {
"APRILTAG_36h10",
"APRILTAG_36h11"
};
#endif
namespace rtabmap {
@@ -156,7 +158,10 @@ CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirector
timestamp_ = QDateTime::currentDateTime().toString("yyyyMMddhhmmss");
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 7)
#ifndef HAVE_CHARUCO
ui_->comboBox_board_type->setItemData(1, 0, Qt::UserRole - 1);
ui_->comboBox_board_type->setItemData(2, 0, Qt::UserRole - 1);
#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 7)
ui_->comboBox_board_type->setItemData(2, 0, Qt::UserRole - 1);
#endif
}
@@ -264,6 +269,7 @@ void CalibrationDialog::generateBoard()
cv::Mat image;
QString filename;
QTextStream stream(&filename);
#ifdef HAVE_CHARUCO
if(ui_->comboBox_board_type->currentIndex() >= 1 )
{
try {
@@ -296,6 +302,7 @@ void CalibrationDialog::generateBoard()
}
}
else
#endif
{
image = drawChessboard(
squareSizeInPixels,
@@ -570,6 +577,7 @@ bool CalibrationDialog::handleEvent(UEvent * event)
return false;
}
#ifdef HAVE_CHARUCO
void matchCharucoImagePoints(
const cv::aruco::CharucoBoard &board,
const std::vector< cv::Point2f > & detectedCorners,
@@ -592,6 +600,7 @@ void matchCharucoImagePoints(
board.matchImagePoints(detectedCorners, detectedIds, objectPoints, cv::noArray());
#endif
}
#endif
// Modified from original versoin in opencv_contrib to remove "id="
void drawDetectedCornersCharuco(cv::InputOutputArray image, cv::InputArray charucoCorners,
@@ -621,7 +630,6 @@ void drawDetectedCornersCharuco(cv::InputOutputArray image, cv::InputArray charu
}
}
void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName)
{
UDEBUG("Processing images");
@@ -738,6 +746,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
else
cv::resize(viewGray, timg, cv::Size(), scale, scale, CV_INTER_CUBIC);
#ifdef HAVE_CHARUCO
if(ui_->comboBox_board_type->currentIndex() >= 1 )
{
std::vector< std::vector< cv::Point2f > > rejected;
@@ -762,6 +771,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
}
}
else // standard checkerboard
#endif
{
boardFound[id] = cv::findChessboardCorners(timg, boardSize, pointBuf[id], flags);
objectBuf[id] = chessboardPoints_;
@@ -836,10 +846,12 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
// Draw the corners.
images[id] = images[id].clone();
#ifdef HAVE_CHARUCO
if(ui_->comboBox_board_type->currentIndex() >= 1 ) {
if(markerIds.size() > 0)
cv::aruco::drawDetectedMarkers(images[id], markerCorners, cv::noArray(), cv::Scalar(255,0,0));
}
#endif
if(pointBuf[id].size() > 0)
drawDetectedCornersCharuco(images[id], pointBuf[id], pointIds[id], cv::Scalar(0,255,0)); // Accepted Green
if(rejectedPoints.size() > 0)
@@ -1200,9 +1212,10 @@ void CalibrationDialog::restart()
chessboardPoints_.clear();
chessboardPointIds_.clear();
markerDictionary_.reset();
arucoDetectorParams_.reset();
charucoBoard_.reset();
#ifdef HAVE_CHARUCO
markerDictionary_.release();
arucoDetectorParams_.release();
charucoBoard_.release();
if(ui_->comboBox_board_type->currentIndex() >= 1 )
{
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
@@ -1210,12 +1223,17 @@ void CalibrationDialog::restart()
#else
arucoDetectorParams_ = cv::aruco::DetectorParameters::create();
#endif
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=3)
arucoDetectorParams_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_CONTOUR;
#else
arucoDetectorParams_->doCornerRefinement = true;
#endif
int arucoDictionary = ui_->comboBox_marker_dictionary->currentIndex();
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
if(arucoDictionary >= 17)
{
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
UERROR("Cannot set AprilTag dictionary. OpenCV version should be at least 3.4.2, "
"current version is %s.", CV_VERSION);
@@ -1228,9 +1246,11 @@ void CalibrationDialog::restart()
// DICT_APRILTAG_36h11=20
//
arucoDictionary = 0;
#else
arucoDetectorParams_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_APRILTAG;
}
#endif
}
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
markerDictionary_.reset(new cv::aruco::Dictionary());
*markerDictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(arucoDictionary));
@@ -1263,6 +1283,7 @@ void CalibrationDialog::restart()
#endif
}
else //checkerboard
#endif
{
for( int i = 0; i < ui_->spinBox_boardHeight->value(); ++i ) {
for( int j = 0; j < ui_->spinBox_boardWidth->value(); ++j ) {
@@ -1466,10 +1487,12 @@ void CalibrationDialog::calibrate()
std::cout << "height = " << imageSize_[id].height << std::endl;
UINFO("FOV horizontal=%f vertical=%f", models_[id].horizontalFOV(), models_[id].verticalFOV());
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION > 2)
std::string strStream;
logStream << "K = " << (strStream << K).c_str() << ENDL;
strStream.clear();
logStream << "D = " << (strStream << D).c_str() << ENDL;
#endif
logStream << "width = " << imageSize_[id].width << ENDL;
logStream << "height = " << imageSize_[id].height << ENDL;
logStream << "FOV horizontal=" << models_[id].horizontalFOV() << " vertical=" << models_[id].verticalFOV() << ENDL;
@@ -1779,6 +1802,17 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
imageSize, R, T, E, F,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5),
cv::CALIB_FIX_INTRINSIC | (ui_->comboBox_calib_model->currentIndex()==2?cv::CALIB_RATIONAL_MODEL:0));
#elif CV_MAJOR_VERSION == 3 and (CV_MINOR_VERSION < 4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION < 1))
//OpenCV < 3.4.1
rms = cv::stereoCalibrate(
stereoObjectPoints_,
stereoImagePoints_[0],
stereoImagePoints_[1],
left.K_raw(), left.D_raw(),
right.K_raw(), right.D_raw(),
imageSize, R, T, E, F,
cv::CALIB_FIX_INTRINSIC | (ui_->comboBox_calib_model->currentIndex()==2?cv::CALIB_RATIONAL_MODEL:0),
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5));
#else
cv::Mat perViewErrorsMat;
rms = cv::stereoCalibrate(
@@ -1811,6 +1845,7 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
std::cout << "E = " << E << std::endl;
std::cout << "F = " << F << std::endl;
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION > 2)
std::string strStream;
if(logStream) (*logStream) << "R = " << (strStream<<R).c_str() << ENDL;
strStream.clear();
@@ -1820,6 +1855,7 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
strStream.clear();
if(logStream) (*logStream) << "F = " << (strStream<<F).c_str() << ENDL;
strStream.clear();
#endif
if(imageSize_[0] == imageSize_[1] && !ignoreStereoRectification)
{
@@ -1836,6 +1872,7 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
std::cout << "R2 = " << R2 << std::endl;
std::cout << "P2 = " << P2 << std::endl;
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION > 2)
if(logStream) (*logStream) << "R1 = " << (strStream<<R1).c_str() << ENDL;
strStream.clear();
if(logStream) (*logStream) << "P1 = " << (strStream<<P1).c_str() << ENDL;
@@ -1843,6 +1880,7 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
if(logStream) (*logStream) << "R2 = " << (strStream<<R2).c_str() << ENDL;
strStream.clear();
if(logStream) (*logStream) << "P2 = " << (strStream<<P2).c_str() << ENDL;
#endif
double err = 0;
int npoints = 0;