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Fix compatibility with OpenCV 4.7.0 #589

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Jan 31, 2023
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Fix compatibility with OpenCV 4.7.0 #589

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a894712
Fix compatibility with OpenCV 4.7.0
traversaro Jan 28, 2023
a80da6b
Update CHANGELOG.md
traversaro Jan 30, 2023
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -13,6 +13,7 @@ All notable changes to this project are documented in this file.

### Fix
- Return an invalid `PolyDriverDescriptor` if `description` is not found in `constructMultipleAnalogSensorsRemapper()` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/569)
- Fix compatibility with OpenCV 4.7.0 (https://github.com/ami-iit/bipedal-locomotion-framework/pull/589)

## [0.11.1] - 2022-12-19
### Fix
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12 changes: 12 additions & 0 deletions src/Perception/src/ArucoDetector.cpp
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Expand Up @@ -55,6 +55,11 @@ class ArucoDetector::Impl
/**
* Utility map for choosing Aruco marker dictionary depending on user parameter
*/
// TODO(traversaro): when we drop support for OpenCV < 4.7.0, we can cleanup this part
// we can also check if there are other dictionary that should be added here
#if (CV_VERSION_MAJOR >= 5) || (CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7)
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Yes, there are certainly other dictionaries to be added here. I remember experiencing this issue earlier and purposefully leaving out some dictionaries from the lookup.

Apriltags are not added here. https://docs.opencv.org/3.4/dc/df7/dictionary_8hpp.html

#define PREDEFINED_DICTIONARY_NAME PredefinedDictionaryType
#endif
std::unordered_map<std::string, cv::aruco::PREDEFINED_DICTIONARY_NAME>
availableDict{{"4X4_50", cv::aruco::PREDEFINED_DICTIONARY_NAME::DICT_4X4_50},
{"4X4_100", cv::aruco::PREDEFINED_DICTIONARY_NAME::DICT_4X4_100},
Expand Down Expand Up @@ -115,7 +120,14 @@ bool ArucoDetector::initialize(std::weak_ptr<const IParametersHandler> handler)
return false;
}

// In OpenCV 4.7.0 getPredefinedDictionary started returning a cv::aruco::Dictionary
// instead of a cv::Ptr<cv::aruco::Dictionary>
#if (CV_VERSION_MAJOR >= 5) || (CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 7)
m_pimpl->dictionary = cv::makePtr<cv::aruco::Dictionary>();
*(m_pimpl->dictionary) = cv::aruco::getPredefinedDictionary(m_pimpl->availableDict.at(dictName));
#else
m_pimpl->dictionary = cv::aruco::getPredefinedDictionary(m_pimpl->availableDict.at(dictName));
#endif

if (!handle->getParameter("marker_length", m_pimpl->markerLength))
{
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