fix macro bugs and typo.

README.md

@@ -1,4 +1,7 @@
 # Aruco Marker Navigation
 
 Based on opencv aruco marker, we retrieve the `world2cam` rotation angles and translations for the nearest `id` marker. 
-This can help us on navigating the predefined road and give a warning for departure.
+This can help us on navigating the predefined road and give a warning for departure.
+
+## Linux and Windows OpenCV Version Difference
+For `linux`, the OpenCV version is: 4.5.4, where `windows` is: 4.8.0.

main.cpp

@@ -3,6 +3,7 @@
 #include "src/rscvcapture.h"
 #include <filesystem>
 #include <vector>
+#include <opencv2/core/version.hpp>
 using namespace aruconavi;
 namespace fs = std::filesystem;
 using namespace std;
@@ -41,12 +42,12 @@ int main() {
   //  cv::imshow("detected coordinate system", image_copy);
   //  cv::waitKey(0);
   //  cv::destroyAllWindows();
-  bool status = rs_with_cv_capture(1280, 720);
-  if (status) {
-    cout << "launch succeed!" << endl;
-  } else {
-    cout << "launch failed!" << endl;
-  }
-  // std::cout << "OpenCV version: " << CV_VERSION << std::endl;
+//  bool status = rs_with_cv_capture(1280, 720);
+//  if (status) {
+//    cout << "launch succeed!" << endl;
+//  } else {
+//    cout << "launch failed!" << endl;
+//  }
+   std::cout << "OpenCV version: " << CV_VERSION << std::endl;
   return 0;
 }

src/calculate_angles.cpp

@@ -74,10 +74,14 @@ namespace aruconavi {
     int status = -1;
     status = detect_left_right_departure(id);
     if (status == 3) {
-      std::cout << RED << "WARNING: " << "you are left drifted, please make a right turn!" << std::endl;
+      std::cout << RED << "WARNING: "
+                << "you are left drifted, please make a right turn!"
+                << std::endl;
     }
     if (status == 4) {
-      std::cout << RED << "WARNING: " << "you are right drifted, please make a left turn!" << std::endl;
+      std::cout << RED << "WARNING: "
+                << "you are right drifted, please make a left turn!"
+                << std::endl;
     }
   }
 } // namespace aruconavi

src/detect.cpp

@@ -18,8 +18,13 @@
 
 namespace aruconavi {
   std::pair<std::vector<int>, std::vector<std::vector<cv::Point2f>>>
+#if defined(_WIN32) || defined(_WIN64)
   detect_markers(cv::Mat& image,
                  cv::aruco::PredefinedDictionaryType aruco_dict_info) {
+#else
+  detect_markers(cv::Mat& image,
+                 cv::aruco::PREDEFINED_DICTIONARY_NAME aruco_dict_info) {
+#endif
     cv::Mat gray;
     cv::cvtColor(image, gray, cv::COLOR_BGR2GRAY);
 #if defined(_WIN32) || defined(_WIN64)

src/drawfunc.cpp

@@ -40,15 +40,18 @@ namespace aruconavi {
     }
   }
 
-  void Painter::print_message(const Eigen::Vector3f& ypr, const Eigen::Vector3f& translation) {
-    std::cout << "rotation angles are: " << "\n" <<
-        "yaw: " << ypr(0) << "\n" <<
-        "pitch: " << ypr(1) << "\n" <<
-        "roll: " << ypr(2) << std::endl;
-    std::cout << "translation offset is(in meters): " << "\n" <<
-        "x axis: " << translation(0) << "\n" <<
-        "y axis: " << translation(1) << "\n" <<
-        "z axis: " << translation(2) << std::endl;
+  void Painter::print_message(const Eigen::Vector3f& ypr,
+                              const Eigen::Vector3f& translation) {
+    std::cout << "rotation angles are: "
+              << "\n"
+              << "yaw: " << ypr(0) << "\n"
+              << "pitch: " << ypr(1) << "\n"
+              << "roll: " << ypr(2) << std::endl;
+    std::cout << "translation offset is(in meters): "
+              << "\n"
+              << "x axis: " << translation(0) << "\n"
+              << "y axis: " << translation(1) << "\n"
+              << "z axis: " << translation(2) << std::endl;
     std::cout << "===============================" << std::endl;
   }
 

src/drawfunc.h

@@ -36,9 +36,10 @@ namespace aruconavi {
                                 const Eigen::Vector<float, 5>& dist_coef,
                                 const cv::Vec3d& rvec, const cv::Vec3d& tvec);
     void draw_detected_markers(
-        const std::pair<std::vector<int>, std::vector<std::vector<cv::Point2f>>>&
-            pairs);
-    void print_message(const Eigen::Vector3f& ypr, const Eigen::Vector3f& translation);
+        const std::pair<std::vector<int>,
+                        std::vector<std::vector<cv::Point2f>>>& pairs);
+    void print_message(const Eigen::Vector3f& ypr,
+                       const Eigen::Vector3f& translation);
     //    void draw_text();
     ~Painter() = default;
   };

src/rscapture.cpp

@@ -45,4 +45,4 @@ namespace aruconavi {
       return false;
     }
   }
-}
+} // namespace aruconavi

src/rscvcapture.cpp

@@ -31,7 +31,8 @@ namespace aruconavi {
       Mat image_out;
       while (waitKey(1) < 0 &&
              getWindowProperty(win_name, WND_PROP_AUTOSIZE) >= 0) {
-        rs2::frameset data = pipe.wait_for_frames(); // wait for next set of frames from the camera
+        rs2::frameset data = pipe.wait_for_frames(); // wait for next set of
+                                                     // frames from the camera
         auto rgb = data.get_color_frame();
 
         // query frame size (width and height)
@@ -61,4 +62,4 @@ namespace aruconavi {
       return false;
     }
   }
-}
+} // namespace aruconavi