i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case.

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-21 23:37:23 +00:00
parent 08d0bc4ad5
commit 374ef280f2
10 changed files with 223 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/Camera.cpp
View File

@@ -196,7 +196,7 @@ cv::Mat CameraImages::captureImage()
{
ULOGGER_DEBUG("Loading image : %s", fullPath.c_str());
#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
#if CV_MAJOR_VERSION >2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
img = cv::imread(fullPath.c_str(), cv::IMREAD_UNCHANGED);
#else
img = cv::imread(fullPath.c_str(), -1);

62
corelib/src/Features2d.cpp
View File

@@ -37,12 +37,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/gpu/gpu.hpp>
#include <opencv2/core/version.hpp>
#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
#ifdef WITH_NONFREE
#if CV_MAJOR_VERSION > 2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
#include <opencv2/nonfree/gpu.hpp>
#include <opencv2/nonfree/features2d.hpp>
#endif
#define OPENCV_SURF_GPU CV_MAJOR_VERSION >= 2 and CV_MINOR_VERSION >=2 and CV_SUBMINOR_VERSION>=1
#endif
namespace rtabmap {
@@ -321,21 +321,30 @@ cv::Rect Feature2D::computeRoi(const cv::Mat & image, const std::vector<float> &
/////////////////////
Feature2D * Feature2D::create(Feature2D::Type & type, const ParametersMap & parameters)
{
if(RTABMAP_NONFREE == 0 &&
(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSift))
{
UERROR("SURF/SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.");
type = Feature2D::kFeatureOrb;
}
Feature2D * feature2D = 0;
switch(type)
{
case Feature2D::kFeatureSurf:
feature2D = new SURF(parameters);
break;
case Feature2D::kFeatureSift:
feature2D = new SIFT(parameters);
break;
case Feature2D::kFeatureOrb:
feature2D = new ORB(parameters);
break;
case Feature2D::kFeatureFastBrief:
feature2D = new FAST_BRIEF(parameters);
break;
case Feature2D::kFeatureFastFreak:
feature2D = new FAST_FREAK(parameters);
break;
case Feature2D::kFeatureOrb:
feature2D = new ORB(parameters);
break;
case Feature2D::kFeatureGfttFreak:
feature2D = new GFTT_FREAK(parameters);
break;
@@ -345,11 +354,18 @@ Feature2D * Feature2D::create(Feature2D::Type & type, const ParametersMap & para
case Feature2D::kFeatureBrisk:
feature2D = new BRISK(parameters);
break;
case Feature2D::kFeatureSurf:
#ifdef WITH_NONFREE
default:
feature2D = new SURF(parameters);
type = Feature2D::kFeatureSurf;
break;
#else
default:
feature2D = new ORB(parameters);
type = Feature2D::kFeatureOrb;
break;
#endif
}
return feature2D;
}
@@ -417,6 +433,7 @@ SURF::SURF(const ParametersMap & parameters) :
SURF::~SURF()
{
#ifdef WITH_NONFREE
if(_surf)
{
delete _surf;
@@ -425,6 +442,7 @@ SURF::~SURF()
{
delete _gpuSurf;
}
#endif
}
void SURF::parseParameters(const ParametersMap & parameters)
@@ -437,6 +455,7 @@ void SURF::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kSURFGpuKeypointsRatio(), gpuKeypointsRatio_);
Parameters::parse(parameters, Parameters::kSURFGpuVersion(), gpuVersion_);
#ifdef WITH_NONFREE
if(_gpuSurf)
{
delete _gpuSurf;
@@ -461,12 +480,17 @@ void SURF::parseParameters(const ParametersMap & parameters)
_surf = new cv::SURF(hessianThreshold_, nOctaves_, nOctaveLayers_, extended_, upright_);
}
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
#endif
}
std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
#ifdef WITH_NONFREE
cv::Mat imgRoi(image, roi);
if(_gpuSurf)
{
@@ -477,7 +501,9 @@ std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, con
{
_surf->detect(imgRoi, keypoints);
}
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
#endif
return keypoints;
}
@@ -485,6 +511,7 @@ 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;
#ifdef WITH_NONFREE
if(_gpuSurf)
{
cv::gpu::GpuMat imgGpu(image);
@@ -505,6 +532,9 @@ cv::Mat SURF::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
{
_surf->compute(image, keypoints, descriptors);
}
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
#endif
return descriptors;
}
@@ -525,10 +555,14 @@ SIFT::SIFT(const ParametersMap & parameters) :
SIFT::~SIFT()
{
#ifdef WITH_NONFREE
if(_sift)
{
delete _sift;
}
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
}
void SIFT::parseParameters(const ParametersMap & parameters)
@@ -539,6 +573,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kSIFTNOctaveLayers(), nOctaveLayers_);
Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma_);
#ifdef WITH_NONFREE
if(_sift)
{
delete _sift;
@@ -546,14 +581,21 @@ void SIFT::parseParameters(const ParametersMap & parameters)
}
_sift = new cv::SIFT(nfeatures_, nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_);
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
}
std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
#ifdef WITH_NONFREE
cv::Mat imgRoi(image, roi);
_sift->detect(imgRoi, keypoints); // Opencv keypoints
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
return keypoints;
}
@@ -561,7 +603,11 @@ 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;
#ifdef WITH_NONFREE
_sift->compute(image, keypoints, descriptors);
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
return descriptors;
}

4
corelib/src/Memory.cpp
View File

@@ -73,8 +73,7 @@ Memory::Memory(const ParametersMap & parameters) :
_signaturesAdded(0),
_postInitClosingEvents(false),
_feature2D(new SURF(parameters)),
_featureType(Feature2D::kFeatureSurf),
_featureType((Feature2D::Type)Parameters::defaultKpDetectorStrategy()),
_badSignRatio(Parameters::defaultKpBadSignRatio()),
_tfIdfLikelihoodUsed(Parameters::defaultKpTfIdfLikelihoodUsed()),
_parallelized(Parameters::defaultKpParallelized()),
@@ -114,6 +113,7 @@ Memory::Memory(const ParametersMap & parameters) :
_subPixIterations(Parameters::defaultKpSubPixIterations()),
_subPixEps(Parameters::defaultKpSubPixEps())
{
_feature2D = Feature2D::create(_featureType, parameters);
_vwd = new VWDictionary(parameters);
this->parseParameters(parameters);
}

6
corelib/src/util3d.cpp
View File

@@ -41,7 +41,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/ModelCoefficients.h>
#include <pcl/segmentation/sac_segmentation.h>
#ifdef WITH_NONFREE
#include <opencv2/nonfree/features2d.hpp>
#endif
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/video/tracking.hpp>
#include <rtabmap/core/VWDictionary.h>
@@ -1123,7 +1125,7 @@ cv::Mat uncompressImage(const cv::Mat & bytes)
cv::Mat image;
if(!bytes.empty())
{
#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
#if CV_MAJOR_VERSION>2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);
@@ -1137,7 +1139,7 @@ cv::Mat uncompressImage(const std::vector<unsigned char> & bytes)
cv::Mat image;
if(bytes.size())
{
#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
#if CV_MAJOR_VERSION>2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);