cesmak / aruco_detector_ocv Goto Github PK

Hello. Thanks for the implementation.
I am testing the code in ROS Kinetic and it is working great. The problem is that even if I change the dictionary variable in the .launch file to 5x5, it does not recognize the 5x5 Arucos (200x200). Only works with 4x4.

alfons_msgs is mentioned in the CMakeLists.txt so the alfons_msgs package should be added to the workspace.
I will do a pull request to add it or declare this information in the readme

Error on making a build package

Errors     << aruco_detector_ocv:make /home/tyrebot/catkin_ws/logs/aruco_detector_ocv/build.make.000.log      
/home/tyrebot/catkin_ws/src/pg_vision/aruco_detector_ocv/src/aruco_detector_ocv.cpp: In function ‘int main(int, char**)’:
/home/tyrebot/catkin_ws/src/pg_vision/aruco_detector_ocv/src/aruco_detector_ocv.cpp:398:22: error: ‘struct cv::aruco::DetectorParameters’ has no member named ‘cornerRefinementMethod’; did you mean ‘cornerRefinementWinSize’?
     detector_params->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
                      ^~~~~~~~~~~~~~~~~~~~~~
                      cornerRefinementWinSize
/home/tyrebot/catkin_ws/src/pg_vision/aruco_detector_ocv/src/aruco_detector_ocv.cpp:398:54: error: ‘CORNER_REFINE_SUBPIX’ is not a member of ‘cv::aruco’
     detector_params->cornerRefinementMethod = aruco::**CORNER_REFINE_SUBPIX**;
                                                      ^~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/aruco_detector_ocv_node.dir/src/aruco_detector_ocv.cpp.o] Error 1
make[1]: *** [CMakeFiles/aruco_detector_ocv_node.dir/all] Error 2
make: *** [all] Error 2
cd /home/tyrebot/catkin_ws/build/aruco_detector_ocv; catkin build --get-env aruco_detector_ocv | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
..............................................................................................................
Failed     << aruco_detector_ocv:make                      [ Exited with code 2 ]                             
Failed    <<< aruco_detector_ocv                           [ 5.3 seconds ] 

If I do catkin_make clean and build my project from scratch with catkin_make, the compiler cannot find ArucoInfo.h, so I did a little workaround: I commented out the parts in the aruco_detector_ocv.cpp which use the ArucoInfo message. Rebuilt everything with catkin_make, then uncommented the ArucoInfo parts and ran catkin_make again.
I saw that alfons_msgs are mentioned in the package.xml and in the CMakeLists.txt as dependencies, and should be there before building aruco_detector_ocv, but this is not the case.

hi @CesMak,
thanks for the amazing work.
Thought I would give it a try to understand the working however i am having a build error when i run catkin_make in melodic.

home/Rl_ws/src/aruco_detector_ocv/src/aruco_detector_ocv.cpp:398:22: error: ‘struct cv::aruco::DetectorParameters’ has no member named ‘cornerRefinementMethod’; did you mean ‘cornerRefinementWinSize’?
detector_params->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
^~~~~~~~~~~~~~~~~~~~~~
cornerRefinementWinSize
/home/Rl_ws/src/aruco_detector_ocv/src/aruco_detector_ocv.cpp:398:54: error: ‘CORNER_REFINE_SUBPIX’ is not a member of ‘cv::aruco’
detector_params->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
^~~~~~~~~~~~~~~~~~~~
aruco_detector_ocv/CMakeFiles/aruco_detector_ocv_node.dir/build.make:81: recipe for target 'aruco_detector_ocv/CMakeFiles/aruco_detector_ocv_node.dir/src/aruco_detector_ocv.cpp.o' failed
make[2]: *** [aruco_detector_ocv/CMakeFiles/aruco_detector_ocv_node.dir/src/aruco_detector_ocv.cpp.o] Error 1
CMakeFiles/Makefile2:3133: recipe for target 'aruco_detector_ocv/CMakeFiles/aruco_detector_ocv_node.dir/all' failed
make[1]: *** [aruco_detector_ocv/CMakeFiles/aruco_detector_ocv_node.dir/all] Error 2
Makefile:159: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

opencv_version: 4.4
it would be really helpful if you can share some information