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Fixed build with OpenCV >= 4.7 (charucoboard errors)

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This commit is contained in:
matlabbe
2024-06-30 18:15:56 -07:00
parent f5a477f0f4
commit 7641f28250
2 changed files with 53 additions and 14 deletions
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59
guilib/src/CalibrationDialog.cpp
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@@ -155,6 +155,10 @@ CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirector
this->setStereoMode(stereo_);
timestamp_ = QDateTime::currentDateTime().toString("yyyyMMddhhmmss");
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 7)
ui_->comboBox_board_type->setItemData(2, 0, Qt::UserRole - 1);
#endif
}
CalibrationDialog::~CalibrationDialog()
@@ -260,14 +264,22 @@ void CalibrationDialog::generateBoard()
cv::Mat image;
QString filename;
QTextStream stream(&filename);
if(ui_->comboBox_board_type->currentIndex() == 1)
if(ui_->comboBox_board_type->currentIndex() >= 1 )
{
try {
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
charucoBoard_->generateImage(
cv::Size(squareSizeInPixels*ui_->spinBox_boardWidth->value(),
squareSizeInPixels*ui_->spinBox_boardHeight->value()),
image,
squareSizeInPixels/4, 1);
#else
charucoBoard_->draw(
cv::Size(squareSizeInPixels*ui_->spinBox_boardWidth->value(),
squareSizeInPixels*ui_->spinBox_boardHeight->value()),
image,
squareSizeInPixels/4, 1);
#endif
int arucoDict = ui_->comboBox_marker_dictionary->currentIndex();
stream << "charuco_" << (arucoDict<kArucoDictNameSize?kArucoDictNames[arucoDict]:"NA") << "_"
@@ -566,6 +578,8 @@ void matchCharucoImagePoints(
{
UASSERT(detectedIds.size() == detectedCorners.size());
objectPoints.clear();
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 7)
objectPoints.reserve(detectedIds.size());
// look for detected markers that belong to the board and get their information
@@ -574,6 +588,9 @@ void matchCharucoImagePoints(
UASSERT(pointId >= 0 && pointId < (int)board.chessboardCorners.size());
objectPoints.push_back(board.chessboardCorners[pointId]);
}
#else
board.matchImagePoints(detectedCorners, detectedIds, objectPoints, cv::noArray());
#endif
}
// Modified from original versoin in opencv_contrib to remove "id="
@@ -721,7 +738,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
else
cv::resize(viewGray, timg, cv::Size(), scale, scale, CV_INTER_CUBIC);
if(ui_->comboBox_board_type->currentIndex() == 1)
if(ui_->comboBox_board_type->currentIndex() >= 1 )
{
std::vector< std::vector< cv::Point2f > > rejected;
UASSERT(charucoBoard_.get());
@@ -783,7 +800,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
minSquareDistance = d;
}
}
float ratio = ui_->comboBox_board_type->currentIndex() == 1?6.0f:2.0f;
float ratio = ui_->comboBox_board_type->currentIndex() >= 1 ?6.0f:2.0f;
float radius = minSquareDistance==-1.0f?5.0f:(minSquareDistance/ratio);
cv::cornerSubPix( viewGray, pointBuf[id], cv::Size(radius, radius), cv::Size(-1,-1),
cv::TermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1 ));
@@ -819,7 +836,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
// Draw the corners.
images[id] = images[id].clone();
if(ui_->comboBox_board_type->currentIndex() == 1) {
if(ui_->comboBox_board_type->currentIndex() >= 1 ) {
if(markerIds.size() > 0)
cv::aruco::drawDetectedMarkers(images[id], markerCorners, cv::noArray(), cv::Scalar(255,0,0));
}
@@ -838,7 +855,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
{
std::vector<float> params(4,0);
getParams(originalPoints, boardSize, imageSize_[id], params[0], params[1], params[2], params[3]);
if(ui_->comboBox_board_type->currentIndex() == 1)
if(ui_->comboBox_board_type->currentIndex() >= 1 )
{
//params[2] = float(pointBuf[id].size()) / float(boardSize.width * boardSize.height); // number of markers seen
float area = getArea(markerCorners[markerCorners.size()/2], cv::Size(4,4)) * (boardSize.width*boardSize.height);
@@ -852,8 +869,8 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
{
for(unsigned int i=0; i<imageParams_[id].size(); ++i)
{
if(fabs(params[0] - imageParams_[id][i].at(0)) < (ui_->comboBox_board_type->currentIndex() == 1?0.2:0.1)*ui_->doubleSpinBox_sample_factor->value() && // x
fabs(params[1] - imageParams_[id][i].at(1)) < (ui_->comboBox_board_type->currentIndex() == 1?0.2:0.1)*ui_->doubleSpinBox_sample_factor->value() && // y
if(fabs(params[0] - imageParams_[id][i].at(0)) < (ui_->comboBox_board_type->currentIndex() >= 1 ?0.2:0.1)*ui_->doubleSpinBox_sample_factor->value() && // x
fabs(params[1] - imageParams_[id][i].at(1)) < (ui_->comboBox_board_type->currentIndex() >= 1 ?0.2:0.1)*ui_->doubleSpinBox_sample_factor->value() && // y
fabs(params[2] - imageParams_[id][i].at(2)) < 0.05*ui_->doubleSpinBox_sample_factor->value() && // size
(params[3]==0 || params[3]==1.0f || imageParams_[id][i].at(3) == 0 || imageParams_[id][i].at(3) == 1.0f || fabs(params[3] - imageParams_[id][i].at(3)) < 0.1*ui_->doubleSpinBox_sample_factor->value())) // skew
{
@@ -1186,9 +1203,13 @@ void CalibrationDialog::restart()
markerDictionary_.reset();
arucoDetectorParams_.reset();
charucoBoard_.reset();
if(ui_->comboBox_board_type->currentIndex() == 1)
if(ui_->comboBox_board_type->currentIndex() >= 1 )
{
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
arucoDetectorParams_.reset(new cv::aruco::DetectorParameters());
#else
arucoDetectorParams_ = cv::aruco::DetectorParameters::create();
#endif
arucoDetectorParams_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_CONTOUR;
int arucoDictionary = ui_->comboBox_marker_dictionary->currentIndex();
@@ -1211,7 +1232,8 @@ void CalibrationDialog::restart()
}
#endif
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
markerDictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(arucoDictionary));
markerDictionary_.reset(new cv::aruco::Dictionary());
*markerDictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(arucoDictionary));
#elif CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2)
markerDictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(arucoDictionary));
#else
@@ -1224,12 +1246,21 @@ void CalibrationDialog::restart()
ui_->doubleSpinBox_markerLength->value(),
arucoDictionary);
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
charucoBoard_.reset(new cv::aruco::CharucoBoard(
cv::Size(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value()),
ui_->doubleSpinBox_squareSize->value(),
ui_->doubleSpinBox_markerLength->value(),
*markerDictionary_));
charucoBoard_->setLegacyPattern(ui_->comboBox_board_type->currentIndex()==1);
#else
charucoBoard_ = cv::aruco::CharucoBoard::create(
ui_->spinBox_boardWidth->value(),
ui_->spinBox_boardHeight->value(),
ui_->doubleSpinBox_squareSize->value(),
ui_->doubleSpinBox_markerLength->value(),
markerDictionary_);
#endif
}
else //checkerboard
{
@@ -1241,10 +1272,10 @@ void CalibrationDialog::restart()
}
}
ui_->comboBox_marker_dictionary->setVisible(ui_->comboBox_board_type->currentIndex() == 1);
ui_->doubleSpinBox_markerLength->setVisible(ui_->comboBox_board_type->currentIndex() == 1);
ui_->label_markerDictionary->setVisible(ui_->comboBox_board_type->currentIndex() == 1);
ui_->label_markerLength->setVisible(ui_->comboBox_board_type->currentIndex() == 1);
ui_->comboBox_marker_dictionary->setVisible(ui_->comboBox_board_type->currentIndex() >= 1 );
ui_->doubleSpinBox_markerLength->setVisible(ui_->comboBox_board_type->currentIndex() >= 1 );
ui_->label_markerDictionary->setVisible(ui_->comboBox_board_type->currentIndex() >= 1 );
ui_->label_markerLength->setVisible(ui_->comboBox_board_type->currentIndex() >= 1 );
}
void CalibrationDialog::unlock()
@@ -1299,7 +1330,7 @@ void CalibrationDialog::calibrate()
logStream << "Square size = " << ui_->doubleSpinBox_squareSize->value() << ENDL;
logStream << "Subpixel refinement = " << ui_->checkBox_subpixel_refinement->isChecked() << ENDL;
logStream << "Subpixel max error = " << ui_->doubleSpinBox_subpixel_error->value() << ENDL;
if(ui_->comboBox_board_type->currentIndex() == 1)
if(ui_->comboBox_board_type->currentIndex() >= 1 )
{
std::cout << "Marker dictionary = " << ui_->comboBox_marker_dictionary->currentIndex() << std::endl;
std::cout << "Marker length = " << ui_->doubleSpinBox_markerLength->value() << std::endl;

8
guilib/src/ui/calibrationDialog.ui
View File

@@ -182,11 +182,19 @@
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<widget class="QComboBox" name="comboBox_board_type">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Legacy setting creates chessboard patterns starting with a white box in the upper left corner if there is an even row count of chessboard boxes, otherwise it starts with a black box. This setting ensures compatibility to patterns created with OpenCV versions prior OpenCV 4.7.0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<item>
<property name="text">
<string>Chessboard</string>
</property>
</item>
<item>
<property name="text">
<string>ChArUco Board Legacy</string>
</property>
</item>
<item>
<property name="text">
<string>ChArUco Board</string>