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48 lines
2.9 KiB
Diff
48 lines
2.9 KiB
Diff
diff --git a/corelib/src/MarkerDetector.cpp b/corelib/src/MarkerDetector.cpp
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--- a/corelib/src/MarkerDetector.cpp
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+++ b/corelib/src/MarkerDetector.cpp
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@@ -39,12 +39,16 @@ MarkerDetector::MarkerDetector(const ParametersMap & parameters)
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maxRange_ = Parameters::defaultMarkerMaxRange();
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minRange_ = Parameters::defaultMarkerMinRange();
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dictionaryId_ = Parameters::defaultMarkerDictionary();
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-#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2)
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+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
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+ detectorParams_.reset(new cv::aruco::DetectorParameters());
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+#elif CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2)
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detectorParams_ = cv::aruco::DetectorParameters::create();
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#else
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detectorParams_.reset(new cv::aruco::DetectorParameters());
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#endif
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-#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=3)
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+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
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+ detectorParams_->cornerRefinementMethod = (cv::aruco::CornerRefineMethod) Parameters::defaultMarkerCornerRefinementMethod();
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+#elif CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=3)
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detectorParams_->cornerRefinementMethod = Parameters::defaultMarkerCornerRefinementMethod();
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#else
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detectorParams_->doCornerRefinement = Parameters::defaultMarkerCornerRefinementMethod()!=0;
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@@ -70,7 +74,11 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
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detectorParams_->minCornerDistanceRate = 0.05;
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detectorParams_->minDistanceToBorder = 3;
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detectorParams_->minMarkerDistanceRate = 0.05;
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-#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=3)
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+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
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+ int cornerRefinementMethod;
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+ Parameters::parse(parameters, Parameters::kMarkerCornerRefinementMethod(), cornerRefinementMethod);
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+ detectorParams_->cornerRefinementMethod = (cv::aruco::CornerRefineMethod)cornerRefinementMethod;
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+#elif CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=3)
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Parameters::parse(parameters, Parameters::kMarkerCornerRefinementMethod(), detectorParams_->cornerRefinementMethod);
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#else
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int doCornerRefinement = detectorParams_->doCornerRefinement?1:0;
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@@ -103,7 +111,10 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
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dictionaryId_ = Parameters::defaultMarkerDictionary();
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}
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#endif
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-#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2)
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+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)
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+ dictionary_.reset(new cv::aruco::Dictionary());
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+ *dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(dictionaryId_));
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+#elif CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2)
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dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId_));
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#else
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dictionary_.reset(new cv::aruco::Dictionary());
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