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Adding support for AprilTag v3 library (#1702)

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* Adding support for AprilTag v3 library

* New parameter: Marker/Strategy (default opencv-aruco as before). Optimized multicameras marker detection (do only once with stitched image)

* Exposed all AprilTag parameters. Sharing Marker/Dictionary between opencv and apriltag implementation. Added new Marker/Lengths parameter.

* Support AprilTAg library not built with aruco

* cleanup

* Added marker range support

* Make apriltag detection in same orientation than opencv

* fixed shenanigans when rendering markers with multi cameras

* Don't update odom cache (localization mode) when not moving (detecting loop/landmark or not)

* fixed some quirks (camera viewer + tag working)

* Setting quad decimate to 1 by default

* typo

* Implemented OptimizerG2O::loadGraph()

* added apriltag's aruco support info in the cmake config summary

* fixed warning

* fixed isam2 assert when using landmarks

* Fixed homography on multicam

* Adding marker detection time for convenience

* Added missing MIP 36h12 tag family in UI
This commit is contained in:
matlabbe
2026-05-26 17:43:34 -07:00
committed by GitHub
parent 49aa566613
commit 4756474367
23 changed files with 3561 additions and 2136 deletions
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50
CMakeLists.txt
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@@ -22,7 +22,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 23)
SET(RTABMAP_PATCH_VERSION 6)
SET(RTABMAP_PATCH_VERSION 7)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -230,6 +230,7 @@ option(WITH_FASTCV "Include FastCV support" ON)
option(WITH_OPENMP "Include OpenMP support" ON)
option(WITH_OPENGV "Include OpenGV support" ON)
option(BUILD_OPENGV "Build OpenGV internally instead of using the system one" OFF)
option(WITH_APRILTAG "Include AprilTag support" OFF)
IF(MOBILE_BUILD)
option(PCL_OMP "With PCL OMP implementations" OFF)
ELSE()
@@ -866,6 +867,20 @@ IF(WITH_FASTCV)
ENDIF(FastCV_FOUND)
ENDIF(WITH_FASTCV)
IF(WITH_APRILTAG)
FIND_PACKAGE(apriltag QUIET)
IF(apriltag_FOUND)
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 ${APRILTAG_INCLUDES} NO_DEFAULT_PATH)
SET(WITH_APRILTAG_ARUCO NO)
IF(apriltag_aruco_4x4_50_header)
SET(WITH_APRILTAG_ARUCO YES)
ENDIF()
MESSAGE(STATUS "Found apriltag (with aruco=${WITH_APRILTAG_ARUCO}): ${APRILTAG_LOCATION} ${APRILTAG_INCLUDES}")
ENDIF(apriltag_FOUND)
ENDIF(WITH_APRILTAG)
IF(WITH_OPENGV OR okvis_FOUND)
if(NOT BUILD_OPENGV)
FIND_PACKAGE(opengv QUIET)
@@ -1066,6 +1081,12 @@ ENDIF(NOT Open3D_FOUND)
IF(NOT FastCV_FOUND)
SET(FASTCV "//")
ENDIF(NOT FastCV_FOUND)
IF(NOT apriltag_FOUND)
SET(APRILTAG "//")
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)
@@ -1475,28 +1496,33 @@ ENDIF(PCL_COMPILE_OPTIONS)
MESSAGE(STATUS "")
MESSAGE(STATUS "Optional dependencies ('*' affects some default parameters) :")
IF(OpenCV_FOUND)
IF(OPENCV_ARUCO_FOUND)
set(ARUCO_STR "YES")
ELSE()
set(ARUCO_STR "NO")
ENDIF()
IF(OpenCV_VERSION_MAJOR EQUAL 2)
IF(OPENCV_NONFREE_FOUND)
MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)")
MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = YES, aruco = ${ARUCO_STR} (License: Non commercial)")
ELSE()
MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found, License: BSD)")
MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = NO, aruco = ${ARUCO_STR} (not found, License: BSD)")
ENDIF()
ELSE()
IF(OPENCV_XFEATURES2D_FOUND)
IF(NONFREE STREQUAL "//")
IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: BSD)")
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO, aruco = ${ARUCO_STR} (License: BSD)")
ELSE()
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: Apache 2)")
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO, aruco = ${ARUCO_STR} (License: Apache 2)")
ENDIF()
ELSE()
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES (License: Non commercial)")
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES, aruco = ${ARUCO_STR} (License: Non commercial)")
ENDIF()
ELSE()
IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: BSD)")
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO, aruco = ${ARUCO_STR} (License: BSD)")
ELSE()
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: Apache 2)")
MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO, aruco = ${ARUCO_STR} (License: Apache 2)")
ENDIF()
ENDIF()
ENDIF()
@@ -1571,6 +1597,14 @@ ELSE()
MESSAGE(STATUS " With FastCV = NO (FastCV not found)")
ENDIF()
IF(apriltag_FOUND)
MESSAGE(STATUS " With AprilTag ${apriltag_VERSION} = YES (aruco=${WITH_APRILTAG_ARUCO}) (License: BSD 2-Clause License)")
ELSEIF(NOT WITH_APRILTAG)
MESSAGE(STATUS " With AprilTag = NO (WITH_APRILTAG=OFF)")
ELSE()
MESSAGE(STATUS " With AprilTag = NO (apriltag not found)")
ENDIF()
IF(PDAL_FOUND)
MESSAGE(STATUS " With PDAL ${PDAL_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_PDAL)