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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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2
CMakeLists.txt
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@@ -231,7 +231,7 @@ ENDIF()
set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.") set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6) set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d) FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d)
IF(WITH_QT) IF(WITH_QT)
FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization) FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)

2
RTABMapConfig.cmake.in
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@@ -1,7 +1,7 @@
include(CMakeFindDependencyMacro) include(CMakeFindDependencyMacro)
# Mandatory dependencies # Mandatory dependencies
find_dependency(OpenCV COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d) find_dependency(OpenCV COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d)
if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake") if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake")
find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization) find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)

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> #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> #include <opencv2/aruco/charuco.hpp>
#define HAVE_CHARUCO #define HAVE_CHARUCO
#endif #endif
@@ -141,6 +144,10 @@ private:
cv::Ptr<cv::aruco::Dictionary> markerDictionary_; cv::Ptr<cv::aruco::Dictionary> markerDictionary_;
cv::Ptr<cv::aruco::DetectorParameters> arucoDetectorParams_; cv::Ptr<cv::aruco::DetectorParameters> arucoDetectorParams_;
cv::Ptr<cv::aruco::CharucoBoard> charucoBoard_; 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 #endif

25
guilib/src/CalibrationDialog.cpp
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@@ -597,7 +597,8 @@ void matchCharucoImagePoints(
objectPoints.push_back(board.chessboardCorners[pointId]); objectPoints.push_back(board.chessboardCorners[pointId]);
} }
#else #else
board.matchImagePoints(detectedCorners, detectedIds, objectPoints, cv::noArray()); cv::Mat imgPts;
board.matchImagePoints(detectedCorners, detectedIds, objectPoints, imgPts);
#endif #endif
} }
#endif #endif
@@ -753,16 +754,32 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
UASSERT(charucoBoard_.get()); UASSERT(charucoBoard_.get());
// detect markers // detect markers
UDEBUG("Detecting aruco markers...");
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
UASSERT(arucoDetector_.get());
arucoDetector_->detectMarkers(timg, markerCorners, markerIds, rejected);
#else
cv::aruco::detectMarkers(timg, markerDictionary_, markerCorners, markerIds, arucoDetectorParams_, rejected); cv::aruco::detectMarkers(timg, markerDictionary_, markerCorners, markerIds, arucoDetectorParams_, rejected);
#endif
// refine strategy to detect more markers // refine strategy to detect more markers
UDEBUG("Refining aruco markers...");
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
arucoDetector_->refineDetectedMarkers(timg, *charucoBoard_, markerCorners, markerIds, rejected);
#else
cv::aruco::refineDetectedMarkers(timg, charucoBoard_, markerCorners, markerIds, rejected); cv::aruco::refineDetectedMarkers(timg, charucoBoard_, markerCorners, markerIds, rejected);
#endif
// interpolate charuco corners // interpolate charuco corners
UDEBUG("Finding charuco corners (markers=%ld)...", markerCorners.size());
if(markerIds.size() > 0) if(markerIds.size() > 0)
{ {
UASSERT(markerIds.size() == markerCorners.size()); UASSERT(markerIds.size() == markerCorners.size());
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
UASSERT(charucoDetector_.get());
charucoDetector_->detectBoard(timg, pointBuf[id], pointIds[id], markerCorners, markerIds);
#else
cv::aruco::interpolateCornersCharuco(markerCorners, markerIds, timg, charucoBoard_, pointBuf[id], pointIds[id], cv::noArray(), cv::noArray(), 1); cv::aruco::interpolateCornersCharuco(markerCorners, markerIds, timg, charucoBoard_, pointBuf[id], pointIds[id], cv::noArray(), cv::noArray(), 1);
#endif
UDEBUG("Found %ld charuco corners (requires 12)", pointBuf[id].size());
if(pointBuf[id].size() >= 12) { if(pointBuf[id].size() >= 12) {
// Match image points // Match image points
matchCharucoImagePoints(*charucoBoard_, pointBuf[id], pointIds[id], objectBuf[id]); matchCharucoImagePoints(*charucoBoard_, pointBuf[id], pointIds[id], objectBuf[id]);
@@ -1273,6 +1290,8 @@ void CalibrationDialog::restart()
ui_->doubleSpinBox_markerLength->value(), ui_->doubleSpinBox_markerLength->value(),
*markerDictionary_)); *markerDictionary_));
charucoBoard_->setLegacyPattern(ui_->comboBox_board_type->currentIndex()==1); charucoBoard_->setLegacyPattern(ui_->comboBox_board_type->currentIndex()==1);
arucoDetector_.reset(new cv::aruco::ArucoDetector(*markerDictionary_, *arucoDetectorParams_));
charucoDetector_.reset(new cv::aruco::CharucoDetector(*charucoBoard_, cv::aruco::CharucoParameters(), *arucoDetectorParams_));
#else #else
charucoBoard_ = cv::aruco::CharucoBoard::create( charucoBoard_ = cv::aruco::CharucoBoard::create(
ui_->spinBox_boardWidth->value(), ui_->spinBox_boardWidth->value(),