Rename ArucoCodeDetector to ArucoDetector

roboticslab-uc3m · Jun 18, 2024 · 1cb8da2 · 1cb8da2
1 parent 31fc54e
commit 1cb8da2
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Showing 5 changed files with 46 additions and 52 deletions.
diff --git a/libraries/YarpPlugins/ArucoCodeDetector/CMakeLists.txt b/libraries/YarpPlugins/ArucoCodeDetector/CMakeLists.txt
diff --git a/...s/ArucoCodeDetector/ArucoCodeDetector.cpp → ...rpPlugins/ArucoDetector/ArucoDetector.cpp b/...s/ArucoCodeDetector/ArucoCodeDetector.cpp → ...rpPlugins/ArucoDetector/ArucoDetector.cpp
@@ -1,8 +1,7 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "ArucoCodeDetector.hpp"
+#include "ArucoDetector.hpp"
 
-#include <iostream>
 #include <vector>
 
 #include <yarp/os/LogComponent.h>
@@ -14,12 +13,12 @@ using namespace roboticslab;
 
 namespace
 {
-    YARP_LOG_COMPONENT(AC, "rl.ArucoCodeDetector")
+    YARP_LOG_COMPONENT(AC, "rl.ArucoDetector")
 }
 
 constexpr auto DEFAULT_ARUCO_SIZE = "ARUCO_ORIGINAL";
 
-bool ArucoCodeDetector::open(yarp::os::Searchable& config) 
+bool ArucoDetector::open(yarp::os::Searchable& config)
 {
     // default params
     detectorParams = cv::aruco::DetectorParameters();
@@ -44,7 +43,7 @@ bool ArucoCodeDetector::open(yarp::os::Searchable& config)
     return true;
 }
 
-bool ArucoCodeDetector::detect(const yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects) 
+bool ArucoDetector::detect(const yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects)
 {
     yarp::sig::ImageOf<yarp::sig::PixelBgr> inYarpImgBgr;
     inYarpImgBgr.copy(inYarpImg);
@@ -73,11 +72,6 @@ bool ArucoCodeDetector::detect(const yarp::sig::Image& inYarpImg, yarp::os::Bott
             {"blx", yarp::os::Value(bl.x)},
             {"bly", yarp::os::Value(bl.y)}
         };
-
-        /*yCDebug(AC) << "Top Left: " << tl.x << ", " << tl.y;
-        yCDebug(AC) << "Top Right: " << tr.x << ", " << tr.y;
-        yCDebug(AC) << "Bottom Right: " << br.x << ", " << br.y;
-        yCDebug(AC) << "Bottom Left: " << bl.x << ", " << bl.y;*/
     }
 
     return true;

diff --git a/...s/ArucoCodeDetector/ArucoCodeDetector.hpp → ...rpPlugins/ArucoDetector/ArucoDetector.hpp b/...s/ArucoCodeDetector/ArucoCodeDetector.hpp → ...rpPlugins/ArucoDetector/ArucoDetector.hpp
@@ -14,12 +14,12 @@ namespace roboticslab
 
 /**
  * @ingroup YarpPlugins
- * @defgroup ArucoCodeDetector
- * @brief Contains roboticslab::ArucoCodeDetector.
+ * @defgroup ArucoDetector
+ * @brief Contains roboticslab::ArucoDetector.
  */
 
-class ArucoCodeDetector : public yarp::dev::DeviceDriver,
-                          public IDetector
+class ArucoDetector : public yarp::dev::DeviceDriver,
+                      public IDetector
 {
 public:
     bool open(yarp::os::Searchable& config) override;

diff --git a/libraries/YarpPlugins/ArucoDetector/CMakeLists.txt b/libraries/YarpPlugins/ArucoDetector/CMakeLists.txt
@@ -0,0 +1,37 @@
+if(NOT DEFINED ENABLE_ArucoDetector OR ENABLE_ArucoDetector)
+    if(NOT TARGET opencv_objdetect OR NOT OpenCV_VERSION VERSION_GREATER_EQUAL 4.7)
+        message(WARNING "OpenCV objdetect module not found, disabling ArucoDetector device")
+    elseif(NOT YARP_cv_FOUND)
+        message(WARNING "YARP_cv package not found, disabling ArucoDetector device")
+    endif()
+endif()
+
+yarp_prepare_plugin(ArucoDetector
+                    CATEGORY device
+                    TYPE roboticslab::ArucoDetector
+                    INCLUDE ArucoDetector.hpp
+                    DEFAULT ON
+                    DEPENDS "TARGET opencv_objdetect;OpenCV_VERSION VERSION_GREATER_EQUAL 4.7;YARP_cv_FOUND")
+
+if(NOT SKIP_ArucoDetector)
+
+    yarp_add_plugin(ArucoDetector ArucoDetector.hpp
+                                  ArucoDetector.cpp)
+
+    target_link_libraries(ArucoDetector YARP::YARP_os
+                                        YARP::YARP_dev
+                                        YARP::YARP_cv
+                                        opencv_objdetect
+                                        opencv_core
+                                        ROBOTICSLAB::VisionInterfaces)
+
+    yarp_install(TARGETS ArucoDetector
+                 LIBRARY DESTINATION ${ROBOTICSLAB-VISION_DYNAMIC_PLUGINS_INSTALL_DIR}
+                 ARCHIVE DESTINATION ${ROBOTICSLAB-VISION_STATIC_PLUGINS_INSTALL_DIR}
+                 YARP_INI DESTINATION ${ROBOTICSLAB-VISION_PLUGIN_MANIFESTS_INSTALL_DIR})
+
+else()
+
+    set(ENABLE_ArucoDetector OFF CACHE BOOL "Enable/disable ArucoDetector device" FORCE)
+
+endif()
diff --git a/libraries/YarpPlugins/CMakeLists.txt b/libraries/YarpPlugins/CMakeLists.txt
@@ -22,8 +22,8 @@ set_property(GLOBAL APPEND PROPERTY _exported_dependencies YARP_sig)
 add_library(ROBOTICSLAB::VisionInterfaces ALIAS VisionInterfaces)
 
 # YARP devices.
+add_subdirectory(ArucoDetector)
 add_subdirectory(ColorRegionDetector)
 add_subdirectory(DnnDetector)
 add_subdirectory(HaarDetector)
 add_subdirectory(QrDetector)
-add_subdirectory(ArucoCodeDetector)