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Increased ros package version to 0.20.0. Parameters: fixed default feature detector when xfeatures2d is not found

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matlabbe
2020-05-26 22:44:44 -04:00
parent 0902ccc340
commit 798466bb05
2 changed files with 3 additions and 3 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -241,7 +241,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, MaxFeatures, int, 500, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_FEATURES2D)
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
// OpenCV>2 without xFeatures2D module doesn't have BRIEF
RTABMAP_PARAM(Kp, DetectorStrategy, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
#else
@@ -584,7 +584,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_FEATURES2D)
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
// OpenCV>2 without xFeatures2D module doesn't have BRIEF
RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
#else