Complete redesign of AprilTag integration and support for ArUco families#1919
Complete redesign of AprilTag integration and support for ArUco families#1919fspindle wants to merge 18 commits intolagadic:masterfrom
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…ch apriltag naming convention
- useful to detect libapriltag 3.3.0 installed on ubuntu 24.04 with apt - libapriltag 3.3.0 has a corrupted apriltagTargets.cmake file that makes find_package(apriltag) crashing
This commit refactors the AprilTag integration within ViSP and introduces new CMake utilities for better dependency tracking and build robustness. AprilTag Integration Improvements: - Implement detection of 'Extended API' (copy functions and 2nd pose solution). - Add support for ArUco tag families through header check and compile tests. - Modernize version handling and property settings for the built-in 3rdparty. - Add support for system-installed AprilTag with a fallback to built-in source. CMake System Enhancements: - Introduce VISP_OPTION and vp_verify_config() to ensure that requested build options (USE_XXX) match the actual detection results (HAVE_XXX). - Add ENABLE_CONFIG_VERIFICATION option to fail the build on configuration mismatch, preventing "silent" feature loss. - Update vpConfig.h template to export AprilTag version and feature flags (EXTENDED_API, ARUCO, BIG_FAMILY). - Improve vp_get_interface_link_libraries to better handle imported targets and library locations on Windows/Unix. Refactoring: - Rename WITH_APRILTAG to USE_APRILTAG to follow modern ViSP naming conventions. - Standardize big family exclusion logic. - Fix various CMake list manipulation macros for better stability.
…stic wrappers This commit updates the detection module to support the new Apriltag features while maintaining compatibility with older or system-provided versions of the library. Key Changes: - Robust Build Logic: Updated CMakeLists.txt to correctly handle public vs private dependencies depending on whether Apriltag is built from source or found on the system. - Version-Agnostic Internal Wrappers: Added a 'my_' namespace in vpDetectorAprilTag.cpp containing wrappers for core AprilTag functions (matd, zarray, detections). This bypasses issues where some symbols (like matd_destroy) are not exported in certain binary distributions. - Matd Allocation Fix: Implemented conditional allocation logic for matd_t structures to handle the memory layout change introduced in AprilTag 3.4.3 (contiguous vs separate data pointer). - API Guarding: Used VISP_HAVE_APRILTAG_EXTENDED_API and VISP_HAVE_APRILTAG_ARUCO macros to conditionally enable/disable pose estimation methods (like Orthogonal Iteration) and ArUco families. - Cleanup: Removed deprecated and non-functional tag families (TAG_36h10, TAG_36ARTOOLKIT, TAG_25h7) and synchronized Python bindings. - Testing: Updated catchAprilTag and catchArUco tests with adjusted precision thresholds for newer AprilTag versions and added guards for ArUco-specific test cases.
This commit synchronizes the documentation and tutorials with the
recent AprilTag integration refactoring.
Changes:
- Doxygen Configuration: Added VISP_HAVE_APRILTAG_ARUCO and
VISP_HAVE_APRILTAG_EXTENDED_API to the PREDEFINED macros in
config-doxygen.in. This ensures that conditionally compiled
code (like ArUco tags or new pose methods) is correctly
documented in the generated API reference.
- Tutorial Updates:
* Updated AprilTag detection tutorial to use the new naming
convention for CMake variables (USE_APRILTAG_BIG_FAMILY
instead of WITH_...).
* Cleaned up tracking tutorials by removing deprecated tag
families (36h10, 25h7, ARTOOLKIT) from the supported lists.
* Re-indexed the tag family IDs in tutorial examples to match
the updated vpAprilTagFamily enum, ensuring command-line
examples remain accurate.
This commit synchronizes all ViSP code with the updated
vpDetectorAprilTag class and the new AprilTag 3.4+ capabilities.
Changes:
- Robust Pose Defaults: Updated calibration apps and servoing examples
(AFMA6, Franka, UR, Flir-PTU) to use BEST_RESIDUAL_VIRTUAL_VS as the
default pose estimation method when the AprilTag Extended API is
not available.
- UI & CLI Cleanup:
* Removed deprecated tag families (36h10, 25h7, ARTOOLKIT)
from help menus (usage()) and command-line parsing across all
C++ tutorials.
* Re-aligned tag family indices to match the new enum sequence.
* Wrapped ArUco-specific help strings with VISP_HAVE_APRILTAG_ARUCO guards.
- Mobile & Java Synchronization:
* Updated the Android CameraPreview sample and Java tutorials to
reflect the corrected tag family indices and added compatibility
notes for Homography-based methods.
- Bug Fixes in Tutorials: Adjusted epsilon thresholds and improved
variable naming (poseEstimationMethod -> pose_estimation_method)
for better coding style consistency.
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When comparing AprilRobotics/apriltag PR and ViSP/AprilTag code, if relevant, these files have some discrepancies compared to the AprilTag PR code:
Most likely related to MinGW support, but maybe no more relevant now. With these recent changes, In the case of the official
when building ViSP? And in general (I guess there should be no difference when speaking about performance between system lib and built-in)? If the PR is accepted, I guess there is no other fundamental difference between ViSP and AprilRobotics version? In the future, the GHA should be updated to add the support of the On another topic, what would be the correct approach when dealing with the planar pose ambiguity? Does a trivial approach such as a vector of the 30 recently estimated rotations (with solutions from the lowest reprojection error) and choose for the next frame the one corresponding to the "consensus rotation"? |
Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## master #1919 +/- ##
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- Coverage 48.68% 48.45% -0.24%
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Files 532 532
Lines 69293 69289 -4
Branches 32403 32406 +3
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- Hits 33735 33573 -162
- Misses 24976 25027 +51
- Partials 10582 10689 +107 ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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This PR provides a major overhaul of the Apriltag integration within ViSP. The goal is to modernize the build system, improve compatibility with system-wide installations, and extend the features available to the end-user (ArUco markers, Pose ambiguity handling).
1. Modernized Build System & Dependency Management
The AprilTag 3rd-party integration has been redesigned to support three flexible usage modes:
vp_verify_config()andENABLE_CONFIG_VERIFICATIONto ensure build options (USE_XXX) match actual detection results, preventing silent feature loss.2. Enhanced Features & ArUco Support
my_matd_destroy(), etc.) to handle memory layout changes inmatd_tacross different Apriltag versions and bypass non-exported symbols.3. Cleanup & Maintenance
4. Remaining work
3rdparty/apriltag3rdparty/apriltagwith the PR. Will be done in a next pull-requestlibapriltag-devpackagelibapriltag-devpackage is installed, check if3rdparty/apriltagfolder can be removed