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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.

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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
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corelib/src/Memory.cpp
+2 -2
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@@ -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);
}