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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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2
guilib/src/AboutDialog.cpp
View File

@@ -46,7 +46,7 @@ AboutDialog::AboutDialog(QWidget * parent) :
version.append(" [DEMO]");
#endif
QString cv_version = CV_VERSION;
#if RTABMAP_NONFREE == 1
#ifdef RTABMAP_NONFREE
cv_version.append(" [With nonfree]");
#else
cv_version.append(" [Without nonfree]");

48
guilib/src/ParametersToolBox.cpp
View File

@@ -405,34 +405,58 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
if(key.compare(Parameters::kVisFeatureType().c_str()) == 0)
{
if(RTABMAP_NONFREE == 0)
#ifndef RTABMAP_NONFREE
if(value <= 1)
{
if(value <= 1)
{
UWARN("SURF/SIFT not available, setting feature default to FAST/BRIEF.");
widget->setValue(4);
}
UWARN("SURF/SIFT not available, setting feature default to FAST/BRIEF.");
widget->setValue(4);
}
#endif
}
if(key.compare(Parameters::kOptimizerStrategy().c_str()) == 0)
{
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
if(value == 0 && !Optimizer::isAvailable(Optimizer::kTypeTORO))
{
if(value == 1)
if(Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
UWARN("TORO is not available, setting optimization default to GTSAM.");
widget->setValue(2);
}
else if(Optimizer::isAvailable(Optimizer::kTypeG2O))
{
UWARN("TORO is not available, setting optimization default to g2o.");
widget->setValue(1);
}
}
if(value == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O))
{
if(Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
UWARN("g2o is not available, setting optimization default to GTSAM.");
widget->setValue(2);
}
else if(Optimizer::isAvailable(Optimizer::kTypeTORO))
{
UWARN("g2o is not available, setting optimization default to TORO.");
widget->setValue(0);
}
}
if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
if(value == 2 && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
if(value == 2)
if(Optimizer::isAvailable(Optimizer::kTypeG2O))
{
UWARN("GTSAM is not available, setting optimization default to g2o.");
widget->setValue(2);
}
else if(Optimizer::isAvailable(Optimizer::kTypeTORO))
{
UWARN("GTSAM is not available, setting optimization default to TORO.");
widget->setValue(0);
widget->setValue(1);
}
}
if(!Optimizer::isAvailable(Optimizer::kTypeG2O) && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
if(!Optimizer::isAvailable(Optimizer::kTypeG2O) &&
!Optimizer::isAvailable(Optimizer::kTypeGTSAM) &&
!Optimizer::isAvailable(Optimizer::kTypeTORO))
{
widget->setEnabled(false);
}

141
guilib/src/PreferencesDialog.cpp
View File

@@ -146,8 +146,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->label_map_shown->setText(_ui->label_map_shown->text() + " (Disabled, PCL >=1.7.2 required)");
#endif
if(RTABMAP_NONFREE == 0)
{
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
@@ -170,7 +169,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_type->setItemData(5, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(6, 0, Qt::UserRole - 1);
#endif
}
#endif
#if CV_MAJOR_VERSION == 3
_ui->groupBox_fast_opencv2->setEnabled(false);
@@ -189,11 +188,17 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_g2o_solver->setItemData(2, 0, Qt::UserRole - 1);
}
if(!Optimizer::isAvailable(Optimizer::kTypeTORO))
{
_ui->graphOptimization_type->setItemData(0, 0, Qt::UserRole - 1);
}
if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
_ui->graphOptimization_type->setItemData(2, 0, Qt::UserRole - 1);
}
#ifdef RTABMAP_VERTIGO
if(!Optimizer::isAvailable(Optimizer::kTypeG2O) && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
#endif
{
_ui->graphOptimization_robust->setEnabled(false);
}
@@ -2059,32 +2064,55 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath) const
bool PreferencesDialog::validateForm()
{
if(RTABMAP_NONFREE == 0)
#ifndef RTABMAP_NONFREE
// verify that SURF/SIFT cannot be selected if not built with OpenCV nonfree module
// BOW dictionary type
if(_ui->comboBox_detector_strategy->currentIndex() <= 1)
{
// verify that SURF/SIFT cannot be selected if not built with OpenCV nonfree module
// BOW dictionary type
if(_ui->comboBox_detector_strategy->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. ORB is set instead for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
// BOW Reextract features type
if(_ui->reextract_type->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. Fast/Brief is set instead for the re-extraction "
"of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureFastBrief);
}
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. ORB is set instead for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
// BOW Reextract features type
if(_ui->reextract_type->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. Fast/Brief is set instead for the re-extraction "
"of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureFastBrief);
}
#endif
// optimization strategy
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
if(_ui->graphOptimization_type->currentIndex() == 0 && !Optimizer::isAvailable(Optimizer::kTypeTORO))
{
if(_ui->graphOptimization_type->currentIndex() == 1)
if(Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (TORO) is not available. RTAB-Map is not built "
"with TORO. GTSAM is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeGTSAM);
}
else if(Optimizer::isAvailable(Optimizer::kTypeG2O))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (TORO) is not available. RTAB-Map is not built "
"with TORO. g2o is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeG2O);
}
}
if(_ui->graphOptimization_type->currentIndex() == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O))
{
if(Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (g2o) is not available. RTAB-Map is not built "
"with g2o. GTSAM is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeGTSAM);
}
else if(Optimizer::isAvailable(Optimizer::kTypeTORO))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (g2o) is not available. RTAB-Map is not built "
@@ -2092,9 +2120,16 @@ bool PreferencesDialog::validateForm()
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeTORO);
}
}
if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
if(_ui->graphOptimization_type->currentIndex() == 2 && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
if(_ui->graphOptimization_type->currentIndex() == 2)
if(Optimizer::isAvailable(Optimizer::kTypeG2O))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (GTSAM) is not available. RTAB-Map is not built "
"with GTSAM. g2o is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeG2O);
}
else if(Optimizer::isAvailable(Optimizer::kTypeTORO))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (GTSAM) is not available. RTAB-Map is not built "
@@ -2103,6 +2138,15 @@ bool PreferencesDialog::validateForm()
}
}
// verify that Robust and Reject threshold are not set at the same time
if(_ui->graphOptimization_robust->isEnabled() && _ui->graphOptimization_maxError->value()>0.0)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Robust graph optimization and maximum optimization error threshold cannot be "
"both used at the same time. Disabling robust optimization."));
_ui->graphOptimization_robust->setChecked(false);
}
//verify binary features and nearest neighbor
// BOW dictionary type
if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannLSH && _ui->comboBox_detector_strategy->currentIndex() <= 1)
@@ -2771,31 +2815,30 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
}
else
{
if(RTABMAP_NONFREE == 0)
#ifndef RTABMAP_NONFREE
if(valueInt <= 1 &&
(combo->objectName().toStdString().compare(Parameters::kKpDetectorStrategy()) == 0 ||
combo->objectName().toStdString().compare(Parameters::kVisFeatureType()) == 0))
{
if(valueInt <= 1 &&
(combo->objectName().toStdString().compare(Parameters::kKpDetectorStrategy()) == 0 ||
combo->objectName().toStdString().compare(Parameters::kVisFeatureType()) == 0))
{
UWARN("Trying to set \"%s\" to SIFT/SURF but RTAB-Map isn't built "
"with the nonfree module from OpenCV. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
}
else if(valueInt==1 &&
(combo->objectName().toStdString().compare(Parameters::kKpNNStrategy()) == 0 ||
combo->objectName().toStdString().compare(Parameters::kVisCorNNType()) == 0))
{
UWARN("Trying to set \"%s\" to KdTree but RTAB-Map isn't built "
"with the nonfree module from OpenCV and kdTree cannot be used "
"with binary descriptors. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
}
UWARN("Trying to set \"%s\" to SIFT/SURF but RTAB-Map isn't built "
"with the nonfree module from OpenCV. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
}
else if(valueInt==1 &&
(combo->objectName().toStdString().compare(Parameters::kKpNNStrategy()) == 0 ||
combo->objectName().toStdString().compare(Parameters::kVisCorNNType()) == 0))
{
UWARN("Trying to set \"%s\" to KdTree but RTAB-Map isn't built "
"with the nonfree module from OpenCV and kdTree cannot be used "
"with binary descriptors. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
}
#endif
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
if(valueInt==1 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)

4
guilib/src/ui/preferencesDialog.ui
View File

@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>681</width>
<height>2010</height>
<height>2026</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>18</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">