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Fixed build with OpenCV4 (#322)

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This commit is contained in:
matlabbe
2018-10-21 13:35:03 -04:00
parent cc91208057
commit 39e1d45369
20 changed files with 27 additions and 3 deletions
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6
corelib/src/Features2d.cpp
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@@ -948,6 +948,8 @@ void ORB::parseParameters(const ParametersMap & parameters)
{
#if CV_MAJOR_VERSION < 3
_orb = cv::Ptr<CV_ORB>(new CV_ORB(this->getMaxFeatures(), scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, scoreType_, patchSize_, parameters));
#elif CV_MAJOR_VERSION > 3
_orb = CV_ORB::create(this->getMaxFeatures(), scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, (cv::ORB::ScoreType)scoreType_, patchSize_, fastThreshold_);
#else
_orb = CV_ORB::create(this->getMaxFeatures(), scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, scoreType_, patchSize_, fastThreshold_);
#endif
@@ -1548,7 +1550,9 @@ void KAZE::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kKAZENOctaveLayers(), nOctaveLayers_);
Parameters::parse(parameters, Parameters::kKAZEDiffusivity(), diffusivity_);
#if CV_MAJOR_VERSION > 2
#if CV_MAJOR_VERSION > 3
kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, (cv::KAZE::DiffusivityType)diffusivity_);
#elif CV_MAJOR_VERSION > 2
kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, diffusivity_);
#else
UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");

1
corelib/src/camera/CameraFreenect.cpp
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UThread.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/util2d.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_FREENECT
#include <libfreenect.h>

5
corelib/src/camera/CameraFreenect2.cpp
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/util2d.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_FREENECT2
#include <libfreenect2/libfreenect2.hpp>
@@ -429,11 +430,11 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
cv::Mat rgbMat; // rtabmap uses 3 channels RGB
#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatC4, rgbMat, CV_RGBA2BGR);
cv::cvtColor(rgbMatC4, rgbMat, CV_RGBA2BGR);
#else
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
#endif
cv::flip(rgbMat, rgb, 1);

1
corelib/src/camera/CameraImages.cpp
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@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/Graph.h>
#include <opencv2/imgproc/types_c.h>
#include <fstream>
namespace rtabmap

1
corelib/src/camera/CameraK4W2.cpp
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/core/util2d.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_K4W2
#include <Kinect.h>

1
corelib/src/camera/CameraOpenNI2.cpp
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/core/util2d.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_OPENNI2
#include <OniVersion.h>

1
corelib/src/camera/CameraOpenNICV.cpp
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@@ -26,6 +26,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraOpenNICV.h>
#include <rtabmap/utilite/UTimer.h>
#include <opencv2/videoio/videoio_c.h>
namespace rtabmap
{

1
corelib/src/camera/CameraOpenni.cpp
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/utilite/UTimer.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_OPENNI
#include <pcl/io/openni_grabber.h>

1
corelib/src/camera/CameraRealSense.cpp
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/core/util2d.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_REALSENSE
#include <librealsense/rs.hpp>

1
corelib/src/camera/CameraRealSense2.cpp
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_REALSENSE2
#include <librealsense2/rs.hpp>

1
corelib/src/camera/CameraStereoDC1394.cpp
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraStereoDC1394.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_DC1394
#include <dc1394/dc1394.h>

1
corelib/src/camera/CameraStereoImages.cpp
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@@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraStereoImages.h>
#include <rtabmap/utilite/UStl.h>
#include <opencv2/imgproc/types_c.h>
namespace rtabmap
{

2
corelib/src/camera/CameraStereoVideo.cpp
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@@ -28,6 +28,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraStereoVideo.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/videoio/videoio_c.h>
#include <opencv2/imgproc/types_c.h>
namespace rtabmap
{

1
corelib/src/camera/CameraVideo.cpp
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraVideo.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/videoio/videoio_c.h>
namespace rtabmap
{

1
corelib/src/odometry/OdometryDVO.cpp
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_DVO
#include <dvo/dense_tracking.h>

1
corelib/src/odometry/OdometryFovis.cpp
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_FOVIS
#include <libfovis/fovis.hpp>

1
corelib/src/odometry/OdometryMSCKF.cpp
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UThread.h"
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_MSCKF_VIO
#include <msckf_vio/image_processor.h>

1
corelib/src/odometry/OdometryORBSLAM2.cpp
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UDirectory.h"
#include <pcl/common/transforms.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_ORB_SLAM2
#include <System.h>

1
corelib/src/odometry/OdometryOkvis.cpp
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UThread.h"
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_OKVIS
#include <iostream>

1
corelib/src/odometry/OdometryViso2.cpp
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_VISO2
#include <viso_stereo.h>