Merge pull request #8430 from sovrasov:interactive_calib_can_drop_aruco

apps/interactive-calibration/CMakeLists.txt

@@ -1,4 +1,7 @@
-set(OPENCV_INTERACTIVECALIBRATION_DEPS opencv_core opencv_imgproc opencv_features2d opencv_aruco opencv_highgui opencv_calib3d opencv_videoio)
+set(OPENCV_INTERACTIVECALIBRATION_DEPS opencv_core opencv_imgproc opencv_features2d opencv_highgui opencv_calib3d opencv_videoio)
+if(${BUILD_opencv_aruco})
+    list(APPEND OPENCV_INTERACTIVECALIBRATION_DEPS opencv_aruco)
+endif()
 ocv_check_dependencies(${OPENCV_INTERACTIVECALIBRATION_DEPS})
 
 if(NOT OCV_DEPENDENCIES_FOUND)

apps/interactive-calibration/frameProcessor.cpp

@@ -7,7 +7,6 @@
 
 #include <opencv2/calib3d.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/aruco/charuco.hpp>
 #include <opencv2/highgui.hpp>
 
 #include <vector>
@@ -75,6 +74,7 @@ bool CalibProcessor::detectAndParseChessboard(const cv::Mat &frame)
 
 bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
 {
+#ifdef HAVE_OPENCV_ARUCO
     cv::Ptr<cv::aruco::Board> board = mCharucoBoard.staticCast<cv::aruco::Board>();
 
     std::vector<std::vector<cv::Point2f> > corners, rejected;
@@ -95,14 +95,16 @@ bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
         }
         centerX /= currentCharucoCorners.size[0];
         centerY /= currentCharucoCorners.size[0];
-        //cv::circle(frame, cv::Point2f(centerX, centerY), 10, cv::Scalar(0, 255, 0), 10);
+
         mTemplateLocations.insert(mTemplateLocations.begin(), cv::Point2f(centerX, centerY));
         cv::aruco::drawDetectedCornersCharuco(frame, currentCharucoCorners, currentCharucoIds);
         mCurrentCharucoCorners = currentCharucoCorners;
         mCurrentCharucoIds = currentCharucoIds;
         return true;
     }
-
+#else
+    (void)frame;
+#endif
     return false;
 }
 
@@ -231,6 +233,7 @@ bool CalibProcessor::checkLastFrame()
         }
     }
     else {
+#ifdef HAVE_OPENCV_ARUCO
         cv::Mat r, t, angles;
         std::vector<cv::Point3f> allObjPoints;
         allObjPoints.reserve(mCurrentCharucoIds.total());
@@ -248,6 +251,7 @@ bool CalibProcessor::checkLastFrame()
             mCalibData->allCharucoCorners.pop_back();
             mCalibData->allCharucoIds.pop_back();
         }
+#endif
     }
     return isFrameBad;
 }
@@ -266,10 +270,12 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
     switch(mBoardType)
     {
     case chAruco:
+#ifdef HAVE_OPENCV_ARUCO
         mArucoDictionary = cv::aruco::getPredefinedDictionary(
                     cv::aruco::PREDEFINED_DICTIONARY_NAME(capParams.charucoDictName));
         mCharucoBoard = cv::aruco::CharucoBoard::create(mBoardSize.width, mBoardSize.height, capParams.charucoSquareLenght,
                                                         capParams.charucoMarkerSize, mArucoDictionary);
+#endif
         break;
     case AcirclesGrid:
         mBlobDetectorPtr = cv::SimpleBlobDetector::create();

apps/interactive-calibration/frameProcessor.hpp

@@ -6,8 +6,10 @@
 #define FRAME_PROCESSOR_HPP
 
 #include <opencv2/core.hpp>
-#include <opencv2/aruco/charuco.hpp>
 #include <opencv2/calib3d.hpp>
+#ifdef HAVE_OPENCV_ARUCO
+#include <opencv2/aruco/charuco.hpp>
+#endif
 
 #include "calibCommon.hpp"
 #include "calibController.hpp"
@@ -37,8 +39,10 @@ protected:
     cv::Mat mCurrentCharucoIds;
 
     cv::Ptr<cv::SimpleBlobDetector> mBlobDetectorPtr;
+#ifdef HAVE_OPENCV_ARUCO
     cv::Ptr<cv::aruco::Dictionary> mArucoDictionary;
     cv::Ptr<cv::aruco::CharucoBoard> mCharucoBoard;
+#endif
 
     int mNeededFramesNum;
     unsigned mDelayBetweenCaptures;

apps/interactive-calibration/main.cpp

@@ -4,10 +4,13 @@
 
 #include <opencv2/core.hpp>
 #include <opencv2/calib3d.hpp>
-#include <opencv2/aruco/charuco.hpp>
 #include <opencv2/cvconfig.h>
 #include <opencv2/highgui.hpp>
 
+#ifdef HAVE_OPENCV_ARUCO
+#include <opencv2/aruco/charuco.hpp>
+#endif
+
 #include <string>
 #include <vector>
 #include <stdexcept>
@@ -50,31 +53,27 @@ bool calib::showOverlayMessage(const std::string& message)
 #endif
 }
 
-static void deleteButton(int state, void* data)
+static void deleteButton(int, void* data)
 {
-    state++; //to avoid gcc warnings
     (static_cast<cv::Ptr<calibDataController>*>(data))->get()->deleteLastFrame();
     calib::showOverlayMessage("Last frame deleted");
 }
 
-static void deleteAllButton(int state, void* data)
+static void deleteAllButton(int, void* data)
 {
-    state++;
     (static_cast<cv::Ptr<calibDataController>*>(data))->get()->deleteAllData();
     calib::showOverlayMessage("All frames deleted");
 }
 
-static void saveCurrentParamsButton(int state, void* data)
+static void saveCurrentParamsButton(int, void* data)
 {
-    state++;
     if((static_cast<cv::Ptr<calibDataController>*>(data))->get()->saveCurrentCameraParameters())
         calib::showOverlayMessage("Calibration parameters saved");
 }
 
 #ifdef HAVE_QT
-static void switchVisualizationModeButton(int state, void* data)
+static void switchVisualizationModeButton(int, void* data)
 {
-    state++;
     ShowProcessor* processor = static_cast<ShowProcessor*>(((cv::Ptr<FrameProcessor>*)data)->get());
     processor->switchVisualizationMode();
 }
@@ -103,6 +102,11 @@ int main(int argc, char** argv)
 
     captureParameters capParams = paramsController.getCaptureParameters();
     internalParameters intParams = paramsController.getInternalParameters();
+#ifndef HAVE_OPENCV_ARUCO
+    if(capParams.board == chAruco)
+        CV_Error(cv::Error::StsNotImplemented, "Aruco module is disabled in current build configuration."
+                                               " Consider usage of another calibration pattern\n");
+#endif
 
     cv::TermCriteria solverTermCrit = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS,
                                                        intParams.solverMaxIters, intParams.solverEps);
@@ -172,6 +176,7 @@ int main(int argc, char** argv)
                                                     calibrationFlags, solverTermCrit);
                 }
                 else {
+#ifdef HAVE_OPENCV_ARUCO
                     cv::Ptr<cv::aruco::Dictionary> dictionary =
                             cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(capParams.charucoDictName));
                     cv::Ptr<cv::aruco::CharucoBoard> charucoboard =
@@ -183,6 +188,7 @@ int main(int argc, char** argv)
                                                            globalData->cameraMatrix, globalData->distCoeffs,
                                                            cv::noArray(), cv::noArray(), globalData->stdDeviations, cv::noArray(),
                                                            globalData->perViewErrors, calibrationFlags, solverTermCrit);
+#endif
                 }
                 dataController->updateUndistortMap();
                 dataController->printParametersToConsole(std::cout);