Fixing ChArUco board support on opencv >= 4.7.0 (#1331)

Fixed introlab/rtabmap_ros#1200
introlab · Aug 26, 2024 · 4df207a · 4df207a
1 parent 6ce85b4
commit 4df207a
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Showing 4 changed files with 32 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -231,7 +231,7 @@ ENDIF()
 set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
 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)
 FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)

diff --git a/RTABMapConfig.cmake.in b/RTABMapConfig.cmake.in
@@ -1,7 +1,7 @@
 include(CMakeFindDependencyMacro)
 
 # 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")
     find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)

diff --git a/guilib/include/rtabmap/gui/CalibrationDialog.h b/guilib/include/rtabmap/gui/CalibrationDialog.h
@@ -39,7 +39,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #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>
 #define HAVE_CHARUCO
 #endif
@@ -141,6 +144,10 @@ private Q_SLOTS:
 	cv::Ptr<cv::aruco::Dictionary> markerDictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> arucoDetectorParams_;
     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
 
 

diff --git a/guilib/src/CalibrationDialog.cpp b/guilib/src/CalibrationDialog.cpp
@@ -597,7 +597,8 @@ void matchCharucoImagePoints(
 		objectPoints.push_back(board.chessboardCorners[pointId]);
     }
 #else
-	board.matchImagePoints(detectedCorners, detectedIds, objectPoints, cv::noArray());
+	cv::Mat imgPts;
+	board.matchImagePoints(detectedCorners, detectedIds, objectPoints, imgPts);
 #endif
 }
 #endif
@@ -753,16 +754,32 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
 							UASSERT(charucoBoard_.get());
 
 							// 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);
-
+#endif
 							// 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);
-
+#endif
 							// interpolate charuco corners
+							UDEBUG("Finding charuco corners (markers=%ld)...", markerCorners.size());
 							if(markerIds.size() > 0)
 							{
 								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);
+#endif
+								UDEBUG("Found %ld charuco corners (requires 12)", pointBuf[id].size());
 								if(pointBuf[id].size() >= 12) {
 									// Match image points
 									matchCharucoImagePoints(*charucoBoard_, pointBuf[id], pointIds[id], objectBuf[id]);
@@ -1273,6 +1290,8 @@ void CalibrationDialog::restart()
 			ui_->doubleSpinBox_markerLength->value(), 
 			*markerDictionary_));
 		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
 		charucoBoard_ = cv::aruco::CharucoBoard::create(
 			ui_->spinBox_boardWidth->value(),