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Fixed build with OpenCV 3.2.0 (including opencv_contrib)

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This commit is contained in:
matlabbe
2019-02-22 15:27:25 -05:00
parent f27da7c8a5
commit 5f54bd13bb
2 changed files with 11 additions and 1 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -714,7 +714,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Aruco, MarkerLength, float, 0.1, "The length (m) of the markers' side.");
RTABMAP_PARAM(Aruco, VarianceLinear, float, 0.001, "Linear variance to set on marker detections.");
RTABMAP_PARAM(Aruco, VarianceAngular, float, 0.001, "Angular variance to set on marker detections. Set to >=9999 to use only position (xyz) constraint in graph optimization.");
RTABMAP_PARAM(Aruco, CornerRefinementMethod, int, 0, "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag 2)");
RTABMAP_PARAM(Aruco, CornerRefinementMethod, int, 0, "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag 2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
public:
virtual ~Parameters();

10
corelib/src/MarkerDetector.cpp
View File

@@ -36,7 +36,11 @@ MarkerDetector::MarkerDetector(const ParametersMap & parameters)
markerLength_ = Parameters::defaultArucoMarkerLength();
dictionaryId_ = Parameters::defaultArucoDictionary();
detectorParams_ = cv::aruco::DetectorParameters::create();
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=3)
detectorParams_->cornerRefinementMethod = Parameters::defaultArucoCornerRefinementMethod();
#else
detectorParams_->doCornerRefinement = Parameters::defaultArucoCornerRefinementMethod()!=0;
#endif
parseParameters(parameters);
#endif
}
@@ -58,7 +62,13 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
detectorParams_->minCornerDistanceRate = 0.05;
detectorParams_->minDistanceToBorder = 3;
detectorParams_->minMarkerDistanceRate = 0.05;
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=3)
Parameters::parse(parameters, Parameters::kArucoCornerRefinementMethod(), detectorParams_->cornerRefinementMethod);
#else
int doCornerRefinement = detectorParams_->doCornerRefinement?1:0;
Parameters::parse(parameters, Parameters::kArucoCornerRefinementMethod(), doCornerRefinement);
detectorParams_->doCornerRefinement = doCornerRefinement!=0;
#endif
detectorParams_->cornerRefinementWinSize = 5;
detectorParams_->cornerRefinementMaxIterations = 30;
detectorParams_->cornerRefinementMinAccuracy = 0.1;