fixed #316 aruco building on opencv 4.7 and above

rpng · Oct 29, 2023 · 64a58c9 · 64a58c9
1 parent 78b3513
commit 64a58c9
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Showing 3 changed files with 21 additions and 2 deletions.
diff --git a/ov_core/src/test_tracking.cpp b/ov_core/src/test_tracking.cpp
@@ -97,7 +97,7 @@ int main(int argc, char **argv) {
   // Location of the ROS bag we want to read in
   std::string path_to_bag;
   nh->param<std::string>("path_bag", path_to_bag, "/home/patrick/datasets/euroc_mav/V1_01_easy.bag");
-  // nh->param<std::string>("path_bag", path_to_bag, "/home/patrick/datasets/open_vins/aruco_room_01.bag");
+  // nh->param<std::string>("path_bag", path_to_bag, "/home/patrick/datasets/rpng_aruco/aruco_room_01.bag");
   PRINT_INFO("ros bag path is: %s\n", path_to_bag.c_str());
 
   // Get our start location and how much of the bag we want to play

diff --git a/ov_core/src/track/TrackAruco.cpp b/ov_core/src/track/TrackAruco.cpp
@@ -94,7 +94,11 @@ void TrackAruco::perform_tracking(double timestamp, const cv::Mat &imgin, size_t
   //===================================================================================
 
   // Perform extraction
+#if CV_MAJOR_VERSION > 4 || ( CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
+  aruco_detector.detectMarkers(img0, corners[cam_id], ids_aruco[cam_id], rejects[cam_id]);
+#else
   cv::aruco::detectMarkers(img0, aruco_dict, corners[cam_id], ids_aruco[cam_id], aruco_params, rejects[cam_id]);
+#endif
   rT2 = boost::posix_time::microsec_clock::local_time();
 
   //===================================================================================

diff --git a/ov_core/src/track/TrackAruco.h b/ov_core/src/track/TrackAruco.h
@@ -55,10 +55,16 @@ class TrackAruco : public TrackBase {
                       bool downsize)
       : TrackBase(cameras, 0, numaruco, stereo, histmethod), max_tag_id(numaruco), do_downsizing(downsize) {
 #if ENABLE_ARUCO_TAGS
+#if CV_MAJOR_VERSION > 4 || ( CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
+    aruco_dict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_1000);
+    aruco_params.cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
+    aruco_detector = cv::aruco::ArucoDetector(aruco_dict, aruco_params);
+#else
     aruco_dict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_1000);
     aruco_params = cv::aruco::DetectorParameters::create();
     // NOTE: people with newer opencv might fail here
     // aruco_params->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX;
+#endif
 #else
     PRINT_ERROR(RED "[ERROR]: you have not compiled with aruco tag support!!!\n" RESET);
     std::exit(EXIT_FAILURE);
@@ -101,11 +107,20 @@ class TrackAruco : public TrackBase {
   bool do_downsizing;
 
 #if ENABLE_ARUCO_TAGS
+#if CV_MAJOR_VERSION > 4 || ( CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
+  // Our dictionary that we will extract aruco tags with
+  cv::aruco::Dictionary aruco_dict;
+  // Parameters the opencv extractor uses
+  cv::aruco::DetectorParameters aruco_params;
+  // Actual detector class
+  cv::aruco::ArucoDetector aruco_detector;
+#else
   // Our dictionary that we will extract aruco tags with
   cv::Ptr<cv::aruco::Dictionary> aruco_dict;
-
   // Parameters the opencv extractor uses
   cv::Ptr<cv::aruco::DetectorParameters> aruco_params;
+#endif
+
 
   // Our tag IDs and corner we will get from the extractor
   std::unordered_map<size_t, std::vector<int>> ids_aruco;