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Fixing ChArUco board support on opencv >= 4.7.0 (#1331)

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Fixed https://github.com/introlab/rtabmap_ros/issues/1200
This commit is contained in:
matlabbe
2024-08-25 19:35:19 -07:00
committed by GitHub
parent 6ce85b4e55
commit 4df207acc3
4 changed files with 32 additions and 6 deletions
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9
guilib/include/rtabmap/gui/CalibrationDialog.h
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@@ -39,7 +39,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEventsHandler.h>
#if defined(HAVE_OPENCV_ARUCO) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
#if defined(HAVE_OPENCV_OBJDETECT) && (CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7))
#include <opencv2/objdetect/charuco_detector.hpp>
#define HAVE_CHARUCO
#elif defined(HAVE_OPENCV_ARUCO)
#include <opencv2/aruco/charuco.hpp>
#define HAVE_CHARUCO
#endif
@@ -141,6 +144,10 @@ private:
cv::Ptr<cv::aruco::Dictionary> markerDictionary_;
cv::Ptr<cv::aruco::DetectorParameters> arucoDetectorParams_;
cv::Ptr<cv::aruco::CharucoBoard> charucoBoard_;
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
cv::Ptr<cv::aruco::ArucoDetector> arucoDetector_;
cv::Ptr<cv::aruco::CharucoDetector> charucoDetector_;
#endif
#endif