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Fix compatibility with OpenCV ^4.7.0 (backport #32) (#33)
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* Fix compatibility with OpenCV ^4.7.0 (#32)

* Fix compatibility with OpenCV ^4.7.0

* Fix build on older OpenCV

* Fix board creation

(cherry picked from commit d40a490)

* reformat

---------

Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
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@mergify @bjsowa
mergify[bot] and bjsowa committed May 7, 2024
1 parent c63e4f0 commit 35c47ac
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Showing 4 changed files with 77 additions and 31 deletions.
9 changes: 9 additions & 0 deletions aruco_opencv/include/aruco_opencv/parameters.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -147,8 +147,17 @@ void retrieve_aruco_parameters(
"aruco.minOtsuStdDev", detector_parameters->minOtsuStdDev);
node.get_parameter(
"aruco.errorCorrectionRate", detector_parameters->errorCorrectionRate);

#if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7
int refine_method = 0;
node.get_parameter("aruco.cornerRefinementMethod", refine_method);
detector_parameters->cornerRefinementMethod =
static_cast<cv::aruco::CornerRefineMethod>(refine_method);
#else
node.get_parameter(
"aruco.cornerRefinementMethod", detector_parameters->cornerRefinementMethod);
#endif

node.get_parameter(
"aruco.cornerRefinementWinSize", detector_parameters->cornerRefinementWinSize);
node.get_parameter(
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8 changes: 7 additions & 1 deletion aruco_opencv/include/aruco_opencv/utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,12 @@ namespace aruco_opencv

geometry_msgs::msg::Pose convert_rvec_tvec(const cv::Vec3d & rvec, const cv::Vec3d & tvec);

extern const std::unordered_map<std::string, cv::aruco::PREDEFINED_DICTIONARY_NAME> ARUCO_DICT_MAP;
#if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7
using ArucoDictType = cv::aruco::PredefinedDictionaryType;
#else
using ArucoDictType = cv::aruco::PREDEFINED_DICTIONARY_NAME;
#endif

extern const std::unordered_map<std::string, ArucoDictType> ARUCO_DICT_MAP;

} // namespace aruco_opencv
45 changes: 39 additions & 6 deletions aruco_opencv/src/aruco_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,11 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
{
RCLCPP_INFO(get_logger(), "Configuring");

#if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7
detector_parameters_ = cv::makePtr<cv::aruco::DetectorParameters>();
#else
detector_parameters_ = cv::aruco::DetectorParameters::create();
#endif

retrieve_parameters();

Expand All @@ -118,7 +122,13 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
return LifecycleNodeInterface::CallbackReturn::FAILURE;
}

#if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7
dictionary_ = cv::makePtr<cv::aruco::Dictionary>(
cv::aruco::getPredefinedDictionary(
ARUCO_DICT_MAP.at(marker_dict_)));
#else
dictionary_ = cv::aruco::getPredefinedDictionary(ARUCO_DICT_MAP.at(marker_dict_));
#endif

if (!board_descriptions_path_.empty()) {
load_boards();
Expand Down Expand Up @@ -231,6 +241,7 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
tf_listener_.reset();
tf_buffer_.reset();
tf_broadcaster_.reset();
dictionary_.reset();
detector_parameters_.reset();
detection_pub_.reset();
debug_pub_.reset();
Expand Down Expand Up @@ -368,28 +379,50 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
const int markers_y = desc["markers_y"].as<int>();
const double marker_size = desc["marker_size"].as<double>();
const double separation = desc["separation"].as<double>();

auto board = cv::aruco::GridBoard::create(
markers_x, markers_y, marker_size, separation,
dictionary_, desc["first_id"].as<int>());
const int first_id = desc["first_id"].as<int>();

#if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7
std::vector<int> ids(markers_x * markers_y);
std::iota(ids.begin(), ids.end(), first_id);
cv::Ptr<cv::aruco::Board> board = cv::makePtr<cv::aruco::GridBoard>(
cv::Size(markers_x, markers_y), marker_size, separation, *dictionary_, ids);
#else
cv::Ptr<cv::aruco::Board> board = cv::aruco::GridBoard::create(
markers_x, markers_y, marker_size, separation, dictionary_, first_id);
#endif

if (frame_at_center) {
double offset_x = (markers_x * (marker_size + separation) - separation) / 2.0;
double offset_y = (markers_y * (marker_size + separation) - separation) / 2.0;
for (auto & obj : board->objPoints) {

#if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7
std::vector<std::vector<cv::Point3f>> obj_points(board->getObjPoints());
#else
std::vector<std::vector<cv::Point3f>> obj_points(board->objPoints);
#endif

for (auto & obj : obj_points) {
for (auto & point : obj) {
point.x -= offset_x;
point.y -= offset_y;
}
}

// Create a new board with all the object point offsetted so that point (0,0)
// is at the center of the board
#if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7
board = cv::makePtr<cv::aruco::Board>(obj_points, *dictionary_, ids);
#else
board = cv::aruco::Board::create(obj_points, dictionary_, board->ids);
#endif
}

boards_.push_back(std::make_pair(name, board));
} catch (const YAML::Exception & e) {
RCLCPP_ERROR_STREAM(get_logger(), "Failed to load board '" << name << "': " << e.what());
continue;
}
RCLCPP_ERROR_STREAM(
RCLCPP_INFO_STREAM(
get_logger(), "Successfully loaded configuration for board '" << name << "'");
}
}
Expand Down
46 changes: 22 additions & 24 deletions aruco_opencv/src/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,6 @@
namespace aruco_opencv
{

using cv::aruco::PREDEFINED_DICTIONARY_NAME;

geometry_msgs::msg::Pose convert_rvec_tvec(const cv::Vec3d & rvec, const cv::Vec3d & tvec)
{
geometry_msgs::msg::Pose pose_out;
Expand All @@ -49,28 +47,28 @@ geometry_msgs::msg::Pose convert_rvec_tvec(const cv::Vec3d & rvec, const cv::Vec
return pose_out;
}

const std::unordered_map<std::string, cv::aruco::PREDEFINED_DICTIONARY_NAME> ARUCO_DICT_MAP = {
{"4X4_50", PREDEFINED_DICTIONARY_NAME::DICT_4X4_50},
{"4X4_100", PREDEFINED_DICTIONARY_NAME::DICT_4X4_100},
{"4X4_250", PREDEFINED_DICTIONARY_NAME::DICT_4X4_250},
{"4X4_1000", PREDEFINED_DICTIONARY_NAME::DICT_4X4_1000},
{"5X5_50", PREDEFINED_DICTIONARY_NAME::DICT_5X5_50},
{"5X5_100", PREDEFINED_DICTIONARY_NAME::DICT_5X5_100},
{"5X5_250", PREDEFINED_DICTIONARY_NAME::DICT_5X5_250},
{"5X5_1000", PREDEFINED_DICTIONARY_NAME::DICT_5X5_1000},
{"6X6_50", PREDEFINED_DICTIONARY_NAME::DICT_6X6_50},
{"6X6_100", PREDEFINED_DICTIONARY_NAME::DICT_6X6_100},
{"6X6_250", PREDEFINED_DICTIONARY_NAME::DICT_6X6_250},
{"6X6_1000", PREDEFINED_DICTIONARY_NAME::DICT_6X6_1000},
{"7X7_50", PREDEFINED_DICTIONARY_NAME::DICT_7X7_50},
{"7X7_100", PREDEFINED_DICTIONARY_NAME::DICT_7X7_100},
{"7X7_250", PREDEFINED_DICTIONARY_NAME::DICT_7X7_250},
{"7X7_1000", PREDEFINED_DICTIONARY_NAME::DICT_7X7_1000},
{"ARUCO_ORIGINAL", PREDEFINED_DICTIONARY_NAME::DICT_ARUCO_ORIGINAL},
{"APRILTAG_16h5", PREDEFINED_DICTIONARY_NAME::DICT_APRILTAG_16h5},
{"APRILTAG_25h9", PREDEFINED_DICTIONARY_NAME::DICT_APRILTAG_25h9},
{"APRILTAG_36h10", PREDEFINED_DICTIONARY_NAME::DICT_APRILTAG_36h10},
{"APRILTAG_36h11", PREDEFINED_DICTIONARY_NAME::DICT_APRILTAG_36h11},
const std::unordered_map<std::string, ArucoDictType> ARUCO_DICT_MAP = {
{"4X4_50", ArucoDictType::DICT_4X4_50},
{"4X4_100", ArucoDictType::DICT_4X4_100},
{"4X4_250", ArucoDictType::DICT_4X4_250},
{"4X4_1000", ArucoDictType::DICT_4X4_1000},
{"5X5_50", ArucoDictType::DICT_5X5_50},
{"5X5_100", ArucoDictType::DICT_5X5_100},
{"5X5_250", ArucoDictType::DICT_5X5_250},
{"5X5_1000", ArucoDictType::DICT_5X5_1000},
{"6X6_50", ArucoDictType::DICT_6X6_50},
{"6X6_100", ArucoDictType::DICT_6X6_100},
{"6X6_250", ArucoDictType::DICT_6X6_250},
{"6X6_1000", ArucoDictType::DICT_6X6_1000},
{"7X7_50", ArucoDictType::DICT_7X7_50},
{"7X7_100", ArucoDictType::DICT_7X7_100},
{"7X7_250", ArucoDictType::DICT_7X7_250},
{"7X7_1000", ArucoDictType::DICT_7X7_1000},
{"ARUCO_ORIGINAL", ArucoDictType::DICT_ARUCO_ORIGINAL},
{"APRILTAG_16h5", ArucoDictType::DICT_APRILTAG_16h5},
{"APRILTAG_25h9", ArucoDictType::DICT_APRILTAG_25h9},
{"APRILTAG_36h10", ArucoDictType::DICT_APRILTAG_36h10},
{"APRILTAG_36h11", ArucoDictType::DICT_APRILTAG_36h11},
};

} // namespace aruco_opencv

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