Add Aruco3 detection parameters

fictionlab · May 7, 2024 · 41c3210 · 41c3210
1 parent 2b80e17
commit 41c3210
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diff --git a/aruco_opencv/config/aruco_tracker.yaml b/aruco_opencv/config/aruco_tracker.yaml
@@ -86,3 +86,15 @@
 
       # to check if there is a white marker
       detectInvertedMarker: false
+
+      # (required OpenCV 4.6.0+) enable the new and faster Aruco detection strategy.
+      # Proposed in the paper:
+      # Romero-Ramirez et al: Speeded up detection of squared fiducial markers (2018)
+      # https://www.researchgate.net/publication/325787310_Speeded_Up_Detection_of_Squared_Fiducial_Markers
+      useAruco3Detection: false
+
+      # (required OpenCV 4.6.0+) minimum side length of a marker in the canonical image. Latter is the binarized image in which contours are searched
+      minSideLengthCanonicalImg: 32
+
+      # (required OpenCV 4.6.0+) range [0,1], eq (2) from paper. The parameter tau_i has a direct influence on the processing speed.
+      minMarkerLengthRatioOriginalImg: 0.0
diff --git a/aruco_opencv/include/aruco_opencv/parameters.hpp b/aruco_opencv/include/aruco_opencv/parameters.hpp
@@ -141,6 +141,17 @@ inline void declare_aruco_parameters(NodeT && node)
     default_parameters->cornerRefinementMinAccuracy, 0.01, 1.0);
   declare_param(node,
     "aruco.detectInvertedMarker", default_parameters->detectInvertedMarker, true);
+
+  #if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 6
+  declare_param(node,
+    "aruco.useAruco3Detection", default_parameters->useAruco3Detection, true);
+  declare_param_int_range(node,
+    "aruco.minSideLengthCanonicalImg",
+    default_parameters->minSideLengthCanonicalImg, 1, 100);
+  declare_param_double_range(node,
+    "aruco.minMarkerLengthRatioOriginalImg",
+    default_parameters->minMarkerLengthRatioOriginalImg, 0.0, 1.0);
+  #endif
 }
 
 template<class NodeT>
@@ -201,6 +212,15 @@ void retrieve_aruco_parameters(
   node.get_parameter(
     "aruco.detectInvertedMarker", detector_parameters->detectInvertedMarker);
 
+  #if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 6
+  node.get_parameter(
+    "aruco.useAruco3Detection", detector_parameters->useAruco3Detection);
+  node.get_parameter(
+    "aruco.minSideLengthCanonicalImg", detector_parameters->minSideLengthCanonicalImg);
+  node.get_parameter(
+    "aruco.minMarkerLengthRatioOriginalImg", detector_parameters->minMarkerLengthRatioOriginalImg);
+  #endif
+
   if (log_values) {
     RCLCPP_INFO_STREAM(
       node.get_logger(),
@@ -269,6 +289,20 @@ void retrieve_aruco_parameters(
       node.get_logger(),
       " * detectInvertedMarker: " <<
         (detector_parameters->detectInvertedMarker ? "TRUE" : "FALSE"));
+
+    #if CV_VERSION_MAJOR > 4 || CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 6
+    RCLCPP_INFO_STREAM(
+      node.get_logger(),
+      " * useAruco3Detection: " <<
+        (detector_parameters->useAruco3Detection ? "TRUE" : "FALSE"));
+    RCLCPP_INFO_STREAM(
+      node.get_logger(),
+      " * minSideLengthCanonicalImg: " << detector_parameters->minSideLengthCanonicalImg);
+    RCLCPP_INFO_STREAM(
+      node.get_logger(),
+      " * minMarkerLengthRatioOriginalImg: " <<
+        detector_parameters->minMarkerLengthRatioOriginalImg);
+    #endif
   }
 }