mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-07 02:27:47 +08:00
Adding support for AprilTag v3 library (#1702)
* 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
@@ -475,15 +475,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->checkBox_showOdomFrustums->setChecked(false);
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#endif
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//if OpenCV < 3.4.2
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#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
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_ui->ArucoDictionary->setItemData(17, 0, Qt::UserRole - 1);
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_ui->ArucoDictionary->setItemData(18, 0, Qt::UserRole - 1);
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_ui->ArucoDictionary->setItemData(19, 0, Qt::UserRole - 1);
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_ui->ArucoDictionary->setItemData(20, 0, Qt::UserRole - 1);
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#if !defined(HAVE_OPENCV_ARUCO) && !defined(RTABMAP_APRILTAG)
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_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.");
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#endif
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#ifndef HAVE_OPENCV_ARUCO
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_ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module.");
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_ui->MarkerStrategy->setItemData(0, 0, Qt::UserRole - 1);
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#endif
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#ifndef RTABMAP_APRILTAG
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_ui->MarkerStrategy->setItemData(1, 0, Qt::UserRole - 1);
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#endif
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#ifndef RTABMAP_MADGWICK
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@@ -1751,18 +1750,30 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->stereosgbm_mode->setObjectName(Parameters::kStereoSGBMMode().c_str());
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// Aruco marker
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_ui->ArucoDictionary->setObjectName(Parameters::kMarkerDictionary().c_str());
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_ui->ArucoMarkerLength->setObjectName(Parameters::kMarkerLength().c_str());
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_ui->ArucoMaxDepthError->setObjectName(Parameters::kMarkerMaxDepthError().c_str());
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_ui->ArucoVarianceLinear->setObjectName(Parameters::kMarkerVarianceLinear().c_str());
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_ui->ArucoVarianceAngular->setObjectName(Parameters::kMarkerVarianceAngular().c_str());
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_ui->ArucoVarianceOrientationIgnored->setObjectName(Parameters::kMarkerVarianceOrientationIgnored().c_str());
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_ui->ArucoMarkerRangeMin->setObjectName(Parameters::kMarkerMinRange().c_str());
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_ui->ArucoMarkerRangeMax->setObjectName(Parameters::kMarkerMaxRange().c_str());
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_ui->ArucoMarkerPriors->setObjectName(Parameters::kMarkerPriors().c_str());
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_ui->ArucoPriorsVarianceLinear->setObjectName(Parameters::kMarkerPriorsVarianceLinear().c_str());
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_ui->ArucoPriorsVarianceAngular->setObjectName(Parameters::kMarkerPriorsVarianceAngular().c_str());
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_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kMarkerCornerRefinementMethod().c_str());
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_ui->MarkerStrategy->setObjectName(Parameters::kMarkerStrategy().c_str());
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connect(_ui->MarkerStrategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_markerStrategy, SLOT(setCurrentIndex(int)));
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connect(_ui->MarkerStrategy, SIGNAL(currentIndexChanged(int)), this, SLOT(updateAvailableMarkerDictionaries()));
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_ui->MarkerStrategy->setCurrentIndex(Parameters::defaultMarkerStrategy());
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updateAvailableMarkerDictionaries();
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_ui->MarkerDictionary->setObjectName(Parameters::kMarkerDictionary().c_str());
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_ui->MarkerLength->setObjectName(Parameters::kMarkerLength().c_str());
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_ui->MarkerLengths->setObjectName(Parameters::kMarkerLengths().c_str());
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_ui->MarkerMaxDepthError->setObjectName(Parameters::kMarkerMaxDepthError().c_str());
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_ui->MarkerVarianceLinear->setObjectName(Parameters::kMarkerVarianceLinear().c_str());
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_ui->MarkerVarianceAngular->setObjectName(Parameters::kMarkerVarianceAngular().c_str());
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_ui->MarkerVarianceOrientationIgnored->setObjectName(Parameters::kMarkerVarianceOrientationIgnored().c_str());
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_ui->MarkerRangeMin->setObjectName(Parameters::kMarkerMinRange().c_str());
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_ui->MarkerRangeMax->setObjectName(Parameters::kMarkerMaxRange().c_str());
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_ui->MarkerPriors->setObjectName(Parameters::kMarkerPriors().c_str());
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_ui->MarkerPriorsVarianceLinear->setObjectName(Parameters::kMarkerPriorsVarianceLinear().c_str());
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_ui->MarkerPriorsVarianceAngular->setObjectName(Parameters::kMarkerPriorsVarianceAngular().c_str());
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_ui->OpenCVCornerRefinementMethod->setObjectName(Parameters::kMarkerOpenCVCornerRefinementMethod().c_str());
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_ui->apriltag_nthreads->setObjectName(Parameters::kMarkerAprilTagNThreads().c_str());
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_ui->apriltag_quad_decimate->setObjectName(Parameters::kMarkerAprilTagQuadDecimate().c_str());
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_ui->apriltag_quad_sigma->setObjectName(Parameters::kMarkerAprilTagQuadSigma().c_str());
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_ui->apriltag_refine_edges->setObjectName(Parameters::kMarkerAprilTagRefineEdges().c_str());
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_ui->apriltag_decode_sharpening->setObjectName(Parameters::kMarkerAprilTagDecodeSharpening().c_str());
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_ui->apriltag_debug->setObjectName(Parameters::kMarkerAprilTagDebug().c_str());
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// IMU filter
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_ui->doubleSpinBox_imuFilterMadgwickGain->setObjectName(Parameters::kImuFilterMadgwickGain().c_str());
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@@ -3938,15 +3949,36 @@ bool PreferencesDialog::validateForm()
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_ui->checkbox_odomDisabled->setChecked(false);
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}
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#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
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if(_ui->ArucoDictionary->currentIndex()>=17)
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{
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("ArUco dictionary: cannot select AprilTag dictionary, OpenCV version should be at least 3.4.2. Setting back to 0."));
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_ui->ArucoDictionary->setCurrentIndex(0);
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}
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#endif
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if(_ui->MarkerStrategy->currentIndex() == 0)
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{
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#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
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if(_ui->MarkerDictionary->currentIndex()>=17)
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{
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("opencv-aruco: cannot use the selected dictionary (%1), OpenCV version should be at least 3.4.2. Setting back to 0.").arg(_ui->MarkerDictionary->currentIndex()));
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_ui->MarkerDictionary->setCurrentIndex(0);
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}
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#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <8)
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if(_ui->MarkerDictionary->currentIndex()>=21)
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{
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QMessageBox::warning(this, tr("Parameter warning"),
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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()));
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_ui->MarkerDictionary->setCurrentIndex(0);
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}
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#endif
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}
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else if(_ui->MarkerStrategy->currentIndex() == 1)
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{
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#ifndef RTABMAP_APRILTAG_WITH_ARUCO
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if(_ui->MarkerDictionary->currentIndex() < 17 || _ui->MarkerDictionary->currentIndex() == 21)
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{
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("AprilTag Strategy: cannot use selected dictionary (%1), AprilTag should be built with aruco support. Setting back to 17.").arg(_ui->MarkerDictionary->currentIndex()));
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_ui->MarkerDictionary->setCurrentIndex(17);
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}
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#endif
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}
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return true;
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}
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@@ -5573,6 +5605,64 @@ void PreferencesDialog::updateGlobalDescriptorVisibility()
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_ui->groupBox_pydescriptor->setVisible(_ui->comboBox_globalDescriptorExtractor->currentIndex() == 1);
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}
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void PreferencesDialog::updateAvailableMarkerDictionaries()
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{
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Qt::ItemFlags enableFlags = Qt::ItemIsEnabled | Qt::ItemIsSelectable;
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for(int i=0;i<_ui->MarkerDictionary->count();++i) {
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_ui->MarkerDictionary->setItemData(i, QVariant(static_cast<int>(enableFlags)), Qt::UserRole - 1);
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}
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if(_ui->MarkerStrategy->currentIndex() == 1) // AprilTag Strategy is selected
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{
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// ARUCO_ORIGINAL not available with AprilTag lib
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_ui->MarkerDictionary->setItemData(16, 0, Qt::UserRole - 1);
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#ifndef RTABMAP_APRILTAG_WITH_ARUCO
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// disable all aruco dictionaries
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for(int i=0;i<17;++i) {
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_ui->MarkerDictionary->setItemData(i, 0, Qt::UserRole - 1);
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}
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_ui->MarkerDictionary->setItemData(21, 0, Qt::UserRole - 1);
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if(_ui->MarkerDictionary->currentIndex() < 17 || _ui->MarkerDictionary->currentIndex() > 20)
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{
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_ui->MarkerDictionary->setCurrentIndex(20); // 36h11 by default
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}
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#endif
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}
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else //if(_ui->MarkerStrategy->currentIndex() == 0) // OpenCV Strategy is selected
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{
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//if OpenCV < 3.4.2
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#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
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// disable all apriltag dictionaries
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for(int i=17;i<21;++i) {
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_ui->MarkerDictionary->setItemData(i, 0, Qt::UserRole - 1);
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}
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if(_ui->MarkerDictionary->currentIndex() >=17 && _ui->MarkerDictionary->currentIndex() <= 20)
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{
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_ui->MarkerDictionary->setCurrentIndex(Parameters::defaultMarkerDictionary());
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}
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#else
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if(_ui->MarkerDictionary->currentIndex() >=17 && _ui->MarkerDictionary->currentIndex() <= 20)
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{
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// If apriltag is selected, select apriltag refinement by default
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_ui->OpenCVCornerRefinementMethod->setCurrentIndex(3);
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}
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else if(_ui->OpenCVCornerRefinementMethod->currentIndex() == 3)
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{
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// If not apriltag dictionary selected, reset refinement to default.
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_ui->OpenCVCornerRefinementMethod->setCurrentIndex(Parameters::defaultMarkerOpenCVCornerRefinementMethod());
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}
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#endif
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#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <8)
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// disable aruco MPI dictionary
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_ui->MarkerDictionary->setItemData(21, 0, Qt::UserRole - 1);
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if(_ui->MarkerDictionary->currentIndex() == 21)
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{
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_ui->MarkerDictionary->setCurrentIndex(Parameters::defaultMarkerDictionary());
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}
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#endif
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}
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}
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void PreferencesDialog::updateOdometryStackedIndex(int index)
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{
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if(index == 11) // FLOAM -> LOAM
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@@ -6237,7 +6327,7 @@ bool PreferencesDialog::isMarkerDetection() const
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}
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double PreferencesDialog::getMarkerLength() const
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{
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return _ui->ArucoMarkerLength->value();
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return _ui->MarkerLength->value();
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}
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bool PreferencesDialog::isCloudMeshing() const
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{
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