Fix aruco for OpenCV>=4.7 (#606)

stella-cv · Jun 12, 2024 · aa928c9 · aa928c9
1 parent 0a1f13e
commit aa928c9
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Showing 4 changed files with 23 additions and 5 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -115,13 +115,25 @@ message(STATUS "Use OpenCV ${OpenCV_VERSION}")
 
 # Check aruco module
 set(USE_ARUCO ON CACHE BOOL "Enable aruco")
+set(LINK_OBJDETECT OFF CACHE BOOL "Link opencv_objdetect")
+set(LINK_ARUCO OFF CACHE BOOL "Link opencv_aruco")
 list(APPEND ARUCO_CHECK_INCLUDE_DIRS
      ${OpenCV_INSTALL_PATH}/include/
      ${OpenCV_INSTALL_PATH}/include/opencv4)
 unset(ARUCO_INCLUDE_DIRS CACHE)
 find_path(ARUCO_INCLUDE_DIRS NAMES aruco.hpp
           PATH_SUFFIXES opencv2
           PATHS ${ARUCO_CHECK_INCLUDE_DIRS})
+if(ARUCO_INCLUDE_DIRS)
+    set(LINK_ARUCO ON)
+else()
+    find_path(ARUCO_INCLUDE_DIRS NAMES aruco_detector.hpp
+            PATH_SUFFIXES opencv2/objdetect
+            PATHS ${ARUCO_CHECK_INCLUDE_DIRS})
+    if(ARUCO_INCLUDE_DIRS)
+        set(LINK_OBJDETECT ON)
+    endif()
+endif()
 if(USE_ARUCO AND ARUCO_INCLUDE_DIRS)
     message(STATUS "aruco: enabled (Found in ${ARUCO_INCLUDE_DIRS})")
 else()

diff --git a/src/stella_vslam/CMakeLists.txt b/src/stella_vslam/CMakeLists.txt
@@ -193,7 +193,8 @@ target_link_libraries(${PROJECT_NAME}
                       opencv_core
                       opencv_features2d
                       opencv_calib3d
-                      "$<$<BOOL:${USE_ARUCO}>:opencv_aruco>"
+                      "$<$<BOOL:${LINK_OBJDETECT}>:opencv_objdetect>"
+                      "$<$<BOOL:${LINK_ARUCO}>:opencv_aruco>"
                       g2o::core
                       g2o::stuff
                       g2o::types_sba

diff --git a/src/stella_vslam/marker_detector/aruco.cc b/src/stella_vslam/marker_detector/aruco.cc
@@ -10,6 +10,7 @@
 using PredefinedDictionaryType = cv::aruco::PREDEFINED_DICTIONARY_NAME;
 using PredefinedDictionaryObjectType = cv::Ptr<cv::aruco::Dictionary>;
 #else
+#include <opencv2/objdetect/aruco_detector.hpp>
 using PredefinedDictionaryType = cv::aruco::PredefinedDictionaryType;
 using PredefinedDictionaryObjectType = cv::aruco::Dictionary;
 #endif
@@ -84,7 +85,7 @@ aruco::aruco(const camera::base* camera,
     parameters_ = cv::aruco::DetectorParameters::create();
     dictionary_ = get_predefined_dictionary(aruco_marker_model->marker_size_, aruco_marker_model->max_markers_);
 #else
-    detector_ = cv::aruco::ArucoDetector(get_predefined_dictionary(aruco_marker_model->marker_size_, aruco_marker_model->max_markers_));
+    detector_ = std::make_shared<cv::aruco::ArucoDetector>(get_predefined_dictionary(aruco_marker_model->marker_size_, aruco_marker_model->max_markers_));
 #endif
 }
 
@@ -96,7 +97,7 @@ void aruco::detect_2d(const cv::_InputArray& in_image, std::vector<std::vector<c
 #if CV_MAJOR_VERSION <= 4 && CV_MINOR_VERSION < 7
     cv::aruco::detectMarkers(in_image, dictionary_, corners, ids, parameters_);
 #else
-    detector_.detectMarkers(in_image, corners, ids);
+    detector_->detectMarkers(in_image, corners, ids);
 #endif
 }
 

diff --git a/src/stella_vslam/marker_detector/aruco.h b/src/stella_vslam/marker_detector/aruco.h
@@ -13,7 +13,11 @@ class Dictionary;
 } // namespace aruco
 } // namespace cv
 #else
-#include <opencv2/objdetect/aruco_detector.hpp>
+namespace cv {
+namespace aruco {
+class ArucoDetector;
+} // namespace aruco
+} // namespace cv
 #endif
 
 #include <opencv2/core/mat.hpp>
@@ -56,7 +60,7 @@ class aruco : public base {
     cv::Ptr<cv::aruco::DetectorParameters> parameters_;
     cv::Ptr<cv::aruco::Dictionary> dictionary_;
 #else
-    cv::aruco::ArucoDetector detector_;
+    std::shared_ptr<cv::aruco::ArucoDetector> detector_;
 #endif
 };