renaming and some fixes

roboticslab-uc3m · Jun 10, 2024 · bb0d487 · bb0d487
1 parent 18f8924
commit bb0d487
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Showing 4 changed files with 24 additions and 21 deletions.
diff --git a/...rpPlugins/ArucoDetector/ArucoDetector.cpp → ...s/ArucoCodeDetector/ArucoCodeDetector.cpp b/...rpPlugins/ArucoDetector/ArucoDetector.cpp → ...s/ArucoCodeDetector/ArucoCodeDetector.cpp
@@ -1,19 +1,19 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "ArucoDetector.hpp"
+#include "ArucoCodeDetector.hpp"
 
 #include <vector>
 
 using namespace roboticslab;
 
-bool ArucoDetector::open(yarp::os::Searchable& config) 
+bool ArucoCodeDetector::open(yarp::os::Searchable& config) 
 {
     // default params
     detectorParams = cv::aruco::DetectorParameters();
     dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
 }
 
-bool ArucoDetector::detect(const yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects) 
+bool ArucoCodeDetector::detect(const yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects) 
 {
     yarp::sig::ImageOf<yarp::sig::PixelBgr> inYarpImgBgr;
     inYarpImgBgr.copy(inYarpImg);
@@ -22,8 +22,8 @@ bool ArucoDetector::detect(const yarp::sig::Image& inYarpImg, yarp::os::Bottle&
     std::vector<int> markerIds;
     std::vector<std::vector<cv::Point2f>> corners, rejectedCandidates;
 
-    cv::aruco::ArucoDetector arucoDetector(dictionary, detectorParams);
-    arucoDetector.detectMarkers(inputImage, corners, markerIds, rejectedCandidates);
+    cv::aruco::ArucoDetector detector(dictionary, detectorParams);
+    detector.detectMarkers(inputImage, corners, markerIds, rejectedCandidates);
 
     for (auto i = 0; i < corners.size() / 4; i++)
     {

diff --git a/...rpPlugins/ArucoDetector/ArucoDetector.hpp → ...s/ArucoCodeDetector/ArucoCodeDetector.hpp b/...rpPlugins/ArucoDetector/ArucoDetector.hpp → ...s/ArucoCodeDetector/ArucoCodeDetector.hpp
@@ -5,19 +5,20 @@
 
 #include <yarp/dev/DeviceDriver.h>
 #include <opencv2/objdetect.hpp>
+#include <opencv2/objdetect/aruco_detector.hpp>
 #include "IDetector.hpp"
 
 namespace roboticslab
 {
 
 /**
  * @ingroup YarpPlugins
- * @defgroup ArucoDetector
- * @brief Contains roboticslab::ArucoDetector.
+ * @defgroup ArucoCodeDetector
+ * @brief Contains roboticslab::ArucoCodeDetector.
  */
 
-class ArucoDetector : public yarp::dev::DeviceDriver,
-                      public IDetector
+class ArucoCodeDetector : public yarp::dev::DeviceDriver,
+                          public IDetector
 {
 public:
     bool open(yarp::os::Searchable& config) override;

diff --git a/.../YarpPlugins/ArucoDetector/CMakeLists.txt → ...pPlugins/ArucoCodeDetector/CMakeLists.txt b/.../YarpPlugins/ArucoDetector/CMakeLists.txt → ...pPlugins/ArucoCodeDetector/CMakeLists.txt
@@ -1,35 +1,36 @@
-if(NOT DEFINED ENABLE_ArucoDetector OR ENABLE_ArucoDetector)
+if(NOT DEFINED ENABLE_ArucoCodeDetector OR ENABLE_ArucoCodeDetector)
     if(NOT TARGET opencv_objdetect)
-        message(WARNING "OpenCV objdetect module not found, disabling ArucoDetector device")
+        message(WARNING "OpenCV objdetect module not found, disabling ArucoCodeDetector device")
     elseif(NOT YARP_cv_FOUND)
-        message(WARNING "YARP_cv package not found, disabling ArucoDetector device")
+        message(WARNING "YARP_cv package not found, disabling ArucoCodeDetector device")
+    endif()
 endif()
 
-yarp_prepare_plugin(ArucoDetector
+yarp_prepare_plugin(ArucoCodeDetector
                     CATEGORY device
-                    TYPE roboticslab::ArucoDetector
-                    INCLUDE ArucoDetector.hpp
+                    TYPE roboticslab::ArucoCodeDetector
+                    INCLUDE ArucoCodeDetector.hpp
                     DEFAULT ON
                     DEPENDS "TARGET opencv_objdetect;YARP_cv_FOUND")
 
-if(NOT SKIP_ArucoDetector)
+if(NOT SKIP_ArucoCodeDetector)
 
-    yarp_add_plugin(ArucoDetector ArucoDetector.hpp
-                                  ArucoDetector.cpp)
+    yarp_add_plugin(ArucoCodeDetector ArucoCodeDetector.hpp
+                                      ArucoCodeDetector.cpp)
 
-    target_link_libraries(ArucoDetector YARP::YARP_os
+    target_link_libraries(ArucoCodeDetector YARP::YARP_os
                                         YARP::YARP_dev
                                         YARP::YARP_cv
                                         opencv_objdetect
                                         ROBOTICSLAB::VisionInterfaces)
 
-    yarp_install(TARGETS ArucoDetector
+    yarp_install(TARGETS ArucoCodeDetector
                  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)
+    set(ENABLE_ArucoCodeDetector OFF CACHE BOOL "Enable/disable ArucoCodeDetector device" FORCE)
 
 endif()
diff --git a/libraries/YarpPlugins/CMakeLists.txt b/libraries/YarpPlugins/CMakeLists.txt
@@ -26,3 +26,4 @@ add_subdirectory(ColorRegionDetector)
 add_subdirectory(DnnDetector)
 add_subdirectory(HaarDetector)
 add_subdirectory(QrDetector)
+add_subdirectory(ArucoCodeDetector)