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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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tools/Export/main.cpp
+9 -8
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@@ -1978,11 +1978,12 @@ int main(int argc, char * argv[])
exportPosesFormat,
std::map<int, Transform>(robotPoses.lower_bound(1), robotPoses.end()),
links,
std::map<int, double>(robotStamps.lower_bound(1), robotStamps.end()));
std::map<int, double>(robotStamps.lower_bound(1), robotStamps.end()),
parameters);
}
else
{
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, robotPoses, links, robotStamps);
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, robotPoses, links, robotStamps, parameters);
}
cv::Vec3f vmin, vmax;
graph::computeMinMax(robotPoses, vmin, vmax);
@@ -2001,7 +2002,7 @@ int main(int argc, char * argv[])
outputPath = outputDirectory+"/"+baseName+"_camera_poses." + posesExt;
else
outputPath = outputDirectory+"/"+baseName+"_camera_poses_"+uNumber2Str((int)i)+"." + posesExt;
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, cameraPoses[i], std::multimap<int, Link>(), cameraStamps[i]);
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, cameraPoses[i], std::multimap<int, Link>(), cameraStamps[i], parameters);
cv::Vec3f vmin, vmax;
graph::computeMinMax(cameraPoses[i], vmin, vmax);
printf("%d camera poses exported to \"%s\". (min=[%f,%f,%f] max=[%f,%f,%f])\n",
@@ -2014,7 +2015,7 @@ int main(int argc, char * argv[])
if(exportPosesScan)
{
std::string outputPath=outputDirectory+"/"+baseName+"_scan_poses." + posesExt;
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, scanPoses, std::multimap<int, Link>(), scanStamps);
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, scanPoses, std::multimap<int, Link>(), scanStamps, parameters);
cv::Vec3f min, max;
graph::computeMinMax(scanPoses, min, max);
printf("%d scan poses exported to \"%s\". (min=[%f,%f,%f] max=[%f,%f,%f])\n",
@@ -2026,7 +2027,7 @@ int main(int argc, char * argv[])
if(exportPosesScan)
{
std::string outputPath=outputDirectory+"/"+baseName+"_scan_poses." + posesExt;
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, scanPoses, std::multimap<int, Link>(), scanStamps);
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, scanPoses, std::multimap<int, Link>(), scanStamps, parameters);
cv::Vec3f min, max;
graph::computeMinMax(scanPoses, min, max);
printf("%d scan poses exported to \"%s\". (min=[%f,%f,%f] max=[%f,%f,%f])\n",
@@ -2038,7 +2039,7 @@ int main(int argc, char * argv[])
if(exportPosesLandmarks)
{
std::string outputPath=outputDirectory+"/"+baseName+"_landmark_poses." + posesExt;
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, landmarkPoses, std::multimap<int, Link>(), landmarkStamps);
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, landmarkPoses, std::multimap<int, Link>(), landmarkStamps, parameters);
cv::Vec3f min, max;
graph::computeMinMax(landmarkPoses, min, max);
printf("%d landmark poses exported to \"%s\". (min=[%f,%f,%f] max=[%f,%f,%f])\n",
@@ -2050,7 +2051,7 @@ int main(int argc, char * argv[])
if(exportPosesGps)
{
std::string outputPath=outputDirectory+"/"+baseName+"_gps_poses." + posesExt;
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, gpsPoses, std::multimap<int, Link>(), gpsStamps);
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, gpsPoses, std::multimap<int, Link>(), gpsStamps, parameters);
printf("%d GPS poses exported to \"%s\".\n",
(int)gpsPoses.size(),
outputPath.c_str());
@@ -2058,7 +2059,7 @@ int main(int argc, char * argv[])
if(exportPosesGt)
{
std::string outputPath=outputDirectory+"/"+baseName+"_gt_poses." + posesExt;
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, gtPoses, std::multimap<int, Link>(), gtStamps);
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, gtPoses, std::multimap<int, Link>(), gtStamps, parameters);
printf("%d scan poses exported to \"%s\".\n",
(int)gtPoses.size(),
outputPath.c_str());