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Explicitly show licenses of optional dependencies on CMake

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This commit is contained in:
matlabbe
2016-03-01 14:25:00 -05:00
parent e6e9c61c38
commit 1f999c4d28
20 changed files with 458 additions and 228 deletions
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corelib/src/Features2d.cpp
+23 -24
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@@ -419,28 +419,27 @@ Feature2D * Feature2D::create(const ParametersMap & parameters)
}
Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parameters)
{
if(RTABMAP_NONFREE == 0)
#ifndef RTABMAP_NONFREE
if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSift)
{
if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSift)
{
#if CV_MAJOR_VERSION < 3
UWARN("SURF/SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.");
UWARN("SURF/SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.");
#else
UWARN("SURF/SIFT features cannot be used because OpenCV was not built with xfeatures2d module. ORB is used instead.");
#endif
type = Feature2D::kFeatureOrb;
}
#if CV_MAJOR_VERSION == 3
if(type == Feature2D::kFeatureFastBrief ||
type == Feature2D::kFeatureFastFreak ||
type == Feature2D::kFeatureGfttBrief ||
type == Feature2D::kFeatureGfttFreak)
{
UWARN("BRIEF/FREAK features cannot be used because OpenCV was not built with xfeatures2d module. ORB is used instead.");
type = Feature2D::kFeatureOrb;
}
UWARN("SURF/SIFT features cannot be used because OpenCV was not built with xfeatures2d module. ORB is used instead.");
#endif
type = Feature2D::kFeatureOrb;
}
#if CV_MAJOR_VERSION == 3
if(type == Feature2D::kFeatureFastBrief ||
type == Feature2D::kFeatureFastFreak ||
type == Feature2D::kFeatureGfttBrief ||
type == Feature2D::kFeatureGfttFreak)
{
UWARN("BRIEF/FREAK features cannot be used because OpenCV was not built with xfeatures2d module. ORB is used instead.");
type = Feature2D::kFeatureOrb;
}
#endif
#endif
Feature2D * feature2D = 0;
switch(type)
@@ -475,7 +474,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
case Feature2D::kFeatureBrisk:
feature2D = new BRISK(parameters);
break;
#if RTABMAP_NONFREE == 1
#ifdef RTABMAP_NONFREE
default:
feature2D = new SURF(parameters);
type = Feature2D::kFeatureSurf;
@@ -697,7 +696,7 @@ void SURF::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kSURFGpuKeypointsRatio(), gpuKeypointsRatio_);
Parameters::parse(parameters, Parameters::kSURFGpuVersion(), gpuVersion_);
#if RTABMAP_NONFREE == 1
#ifdef RTABMAP_NONFREE
#if CV_MAJOR_VERSION < 3
if(gpuVersion_ && cv::gpu::getCudaEnabledDeviceCount() == 0)
{
@@ -733,7 +732,7 @@ std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, con
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
#if RTABMAP_NONFREE == 1
#ifdef RTABMAP_NONFREE
cv::Mat imgRoi(image, roi);
cv::Mat maskRoi;
if(!mask.empty())
@@ -766,7 +765,7 @@ cv::Mat SURF::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
cv::Mat descriptors;
#if RTABMAP_NONFREE == 1
#ifdef RTABMAP_NONFREE
if(gpuVersion_)
{
#if CV_MAJOR_VERSION < 3
@@ -825,7 +824,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kSIFTNOctaveLayers(), nOctaveLayers_);
Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma_);
#if RTABMAP_NONFREE == 1
#ifdef RTABMAP_NONFREE
#if CV_MAJOR_VERSION < 3
_sift = cv::Ptr<CV_SIFT>(new CV_SIFT(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_));
#else
@@ -840,7 +839,7 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
#if RTABMAP_NONFREE == 1
#ifdef RTABMAP_NONFREE
cv::Mat imgRoi(image, roi);
cv::Mat maskRoi;
if(!mask.empty())
@@ -858,7 +857,7 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
cv::Mat descriptors;
#if RTABMAP_NONFREE == 1
#ifdef RTABMAP_NONFREE
_sift->compute(image, keypoints, descriptors);
#else
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");