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Fixed build with OpenCV4 (#322)

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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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corelib/src/Features2d.cpp
+5 -1
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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!");