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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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guilib/src/CameraViewer.cpp
+19 -3
View File
@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/gui/CloudViewer.h>
#include <rtabmap/utilite/UCv2Qt.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
#include <QtCore/QMetaType>
#include <QHBoxLayout>
#include <QVBoxLayout>
@@ -84,7 +85,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
showScanCheckbox_->setChecked(true);
markerCheckbox_ = new QCheckBox("Detect markers", this);
#ifdef HAVE_OPENCV_ARUCO
#if defined(HAVE_OPENCV_ARUCO) || defined(RTABMAP_APRILTAG)
markerCheckbox_->setEnabled(true);
markerDetector_ = new MarkerDetector(parameters);
#else
@@ -151,6 +152,7 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
imageView_->setVisible(!left.empty() || !left.empty());
std::map<int, MarkerInfo> detections;
UTimer markerDetectionTime;
if(!left.empty())
{
std::vector<CameraModel> models;
@@ -165,12 +167,22 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
}
}
}
else
{
_landmarksSize.clear();
}
if(!models.empty() && models[0].isValidForProjection())
{
cv::Mat imageWithDetections;
detections = markerDetector_->detect(left, models, depthOrRight, std::map<int, float>(), &imageWithDetections);
detections = markerDetector_->detect(left, models, depthOrRight, _landmarksSize, &imageWithDetections);
imageView_->setImage(uCvMat2QImage(imageWithDetections));
for(std::map<int, MarkerInfo>::iterator iter=detections.begin(); iter!=detections.end(); ++iter)
{
if(iter->second.length() > 0.0f) {
_landmarksSize.insert(std::make_pair(iter->first, iter->second.length()));
}
}
}
else
{
@@ -184,6 +196,10 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
sizes.append(QString(" Depth=%1x%2").arg(depthOrRight.cols).arg(depthOrRight.rows));
}
sizes.append(QString(" FPS capture=%1 render=%2").arg(lastCapturePeriod_>0.0?(int)round(1.0/lastCapturePeriod_):0).arg((int)round(1.0/fpsTimer_.restart()*1000)));
if(markerCheckbox_->isEnabled() && markerCheckbox_->isChecked())
{
sizes.append(QString(" Marker=%1ms").arg(int(markerDetectionTime.ticks()*1000)));
}
imageSizeLabel_->setText(sizes);
if(!depthOrRight.empty() &&
@@ -236,7 +252,7 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
cloudView_->addOrUpdateCoordinate(uFormat("landmark_%d", iter->first), iter->second.pose(), iter->second.length(), false);
#endif
std::string num = uNumber2Str(iter->first);
std::string num = uFormat("%d (%.1f cm)", iter->first, iter->second.length()*100.0f);
cloudView_->addOrUpdateText(
std::string("landmark_str_") + num,
num,