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Fixed build for OpenCV 3.1.0

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matlabbe
2019-02-22 21:55:25 +00:00
parent 5f54bd13bb
commit e635f35cf1
1 changed files with 13 additions and 0 deletions
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13
corelib/src/MarkerDetector.cpp
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@@ -35,7 +35,11 @@ MarkerDetector::MarkerDetector(const ParametersMap & parameters)
#ifdef HAVE_OPENCV_ARUCO
markerLength_ = Parameters::defaultArucoMarkerLength();
dictionaryId_ = Parameters::defaultArucoDictionary();
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2)
detectorParams_ = cv::aruco::DetectorParameters::create();
#else
detectorParams_.reset(new cv::aruco::DetectorParameters());
#endif
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=3)
detectorParams_->cornerRefinementMethod = Parameters::defaultArucoCornerRefinementMethod();
#else
@@ -91,7 +95,12 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
dictionaryId_ = Parameters::defaultArucoDictionary();
}
#endif
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2)
dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId_));
#else
dictionary_.reset(new cv::aruco::Dictionary());
*dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId_));
#endif
#endif
}
@@ -106,7 +115,11 @@ std::map<int, Transform> MarkerDetector::detect(const cv::Mat & image, const Cam
std::vector< cv::Vec3d > rvecs, tvecs;
// detect markers and estimate pose
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2)
cv::aruco::detectMarkers(image, dictionary_, corners, ids, detectorParams_, rejected);
#else
cv::aruco::detectMarkers(image, *dictionary_, corners, ids, *detectorParams_, rejected);
#endif
UDEBUG("Markers detected=%d rejected=%d", (int)ids.size(), (int)rejected.size());
if(ids.size() > 0)
{