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Added OpenCV 3 support

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This commit is contained in:
matlabbe
2015-06-18 23:00:46 -04:00
parent aa4005b266
commit 6fe1e42181
17 changed files with 450 additions and 253 deletions
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1
guilib/include/rtabmap/gui/CloudViewer.h
View File

@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QSettings>
#include <opencv2/opencv.hpp>
#include <set>
#include <pcl/visualization/mouse_event.h>
#include <pcl/PCLPointCloud2.h>

27
guilib/src/CalibrationDialog.cpp
View File

@@ -736,12 +736,27 @@ void CalibrationDialog::calibrate()
objectPoints.resize(stereoImagePoints_[0].size(), objectPoints[0]);
// calibrate extrinsic
double rms = cv::stereoCalibrate(objectPoints, stereoImagePoints_[0], stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5),
cv::CALIB_FIX_INTRINSIC);
#if CV_MAJOR_VERSION < 3
double rms = cv::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5),
cv::CALIB_FIX_INTRINSIC);
#else
double rms = cv::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::CALIB_FIX_INTRINSIC,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5));
#endif
UINFO("stereo calibration... done with RMS error=%f", rms);
double err = 0;

39
guilib/src/PreferencesDialog.cpp
View File

@@ -70,7 +70,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEventsManager.h>
#include "utilite/UPlot.h"
#include <opencv2/gpu/gpu.hpp>
#include <opencv2/opencv_modules.hpp>
#if CV_MAJOR_VERSION < 3
#include <opencv2/gpu/gpu.hpp>
#else
#include <opencv2/core/cuda.hpp>
#endif
using namespace rtabmap;
@@ -91,7 +96,16 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui = new Ui_preferencesDialog();
_ui->setupUi(this);
if(cv::gpu::getCudaEnabledDeviceCount() == 0)
bool haveCuda = false;
#if CV_MAJOR_VERSION < 3
haveCuda = cv::gpu::getCudaEnabledDeviceCount() != 0;
#else
haveCuda = cv::cuda::getCudaEnabledDeviceCount() != 0;
#ifndef HAVE_OPENCV_CUDAFEATURES2D
haveCuda = false;
#endif
#endif
if(!haveCuda)
{
_ui->surf_checkBox_gpuVersion->setChecked(false);
_ui->surf_checkBox_gpuVersion->setEnabled(false);
@@ -133,6 +147,27 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_dictionary_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->reextract_nn->setItemData(1, 0, Qt::UserRole - 1);
_ui->odom_bin_nn->setItemData(1, 0, Qt::UserRole - 1);
#if CV_MAJOR_VERSION == 3
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(3, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(4, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(5, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(6, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(1, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(3, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(4, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(5, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(6, 0, Qt::UserRole - 1);
_ui->odom_type->setItemData(0, 0, Qt::UserRole - 1);
_ui->odom_type->setItemData(1, 0, Qt::UserRole - 1);
_ui->odom_type->setItemData(3, 0, Qt::UserRole - 1);
_ui->odom_type->setItemData(4, 0, Qt::UserRole - 1);
_ui->odom_type->setItemData(5, 0, Qt::UserRole - 1);
_ui->odom_type->setItemData(6, 0, Qt::UserRole - 1);
#endif
}
if(!graph::G2OOptimizer::available())
{