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Updated cmake for ARM/Android build

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This commit is contained in:
matlabbe
2016-01-21 17:11:57 -05:00
parent c367fe915e
commit 874816b679
13 changed files with 150 additions and 33 deletions
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12
corelib/src/CMakeLists.txt
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@@ -223,12 +223,24 @@ SET(RESOURCES_HEADERS
${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h
)
IF(ANDROID)
IF(NOT URESOURCEGENERATOR)
MESSAGE( FATAL_ERROR "URESOURCEGENERATOR is not defined (it should point out on \"uresourcegenerator\" application created by a non-Android build), CMake will exit." )
ENDIF(NOT URESOURCEGENERATOR)
ADD_CUSTOM_COMMAND(
OUTPUT ${RESOURCES_HEADERS}
COMMAND ${URESOURCEGENERATOR} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
COMMENT "[Creating resources]"
DEPENDS ${R}
)
ELSE()
ADD_CUSTOM_COMMAND(
OUTPUT ${RESOURCES_HEADERS}
COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/uresourcegenerator -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
COMMENT "[Creating resources]"
DEPENDS ${R} uresourcegenerator
)
ENDIF()
####################################
# Generate resources files END

3
corelib/src/CameraRGB.cpp
View File

@@ -437,7 +437,6 @@ std::vector<std::string> CameraImages::filenames() const
SensorData CameraImages::captureImage()
{
double actualDelay = 0.0;
if(syncImageRateWithStamps_ && _captureDelay>0.0)
{
int sleepTime = (1000*_captureDelay - 1000.0f*_captureTimer.getElapsedTime());
@@ -460,8 +459,6 @@ SensorData CameraImages::captureImage()
}
}
actualDelay = 1.0/(_captureTimer.getElapsedTime());
// Add precision at the cost of a small overhead
while(_captureTimer.getElapsedTime() < _captureDelay-0.000001)
{

2
corelib/src/CameraRGBD.cpp
View File

@@ -42,6 +42,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifdef HAVE_OPENNI
#include <pcl/io/openni_grabber.h>
#include <pcl/io/oni_grabber.h>
#include <pcl/io/openni_camera/openni_depth_image.h>
#include <pcl/io/openni_camera/openni_image.h>
#endif
#ifdef WITH_FREENECT

61
corelib/src/Features2d.cpp
View File

@@ -40,7 +40,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/opencv_modules.hpp>
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
#include <opencv2/gpu/gpu.hpp>
#endif
#else
#include <opencv2/core/cuda.hpp>
#endif
@@ -891,11 +893,19 @@ void ORB::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kFASTNonmaxSuppression(), nonmaxSuppresion_);
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() == 0)
{
UWARN("GPU version of ORB not available! Using CPU version instead...");
gpu_ = false;
}
#else
if(gpu_)
{
UWARN("GPU version of ORB not available (OpenCV not built with gpu/cuda module)! Using CPU version instead...");
gpu_ = false;
}
#endif
#else
#ifndef HAVE_OPENCV_CUDAFEATURES2D
if(gpu_)
@@ -913,8 +923,12 @@ void ORB::parseParameters(const ParametersMap & parameters)
if(gpu_)
{
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
_gpuOrb = cv::Ptr<CV_ORB_GPU>(new CV_ORB_GPU(this->getMaxFeatures(), scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, scoreType_, patchSize_));
_gpuOrb->setFastParams(fastThreshold_, nonmaxSuppresion_);
#else
UFATAL("not supposed to be here");
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
UFATAL("not implemented");
@@ -945,9 +959,13 @@ std::vector<cv::KeyPoint> ORB::generateKeypointsImpl(const cv::Mat & image, cons
if(gpu_)
{
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
cv::gpu::GpuMat imgGpu(imgRoi);
cv::gpu::GpuMat maskGpu(maskRoi);
(*_gpuOrb.obj)(imgGpu, maskGpu, keypoints);
#else
UERROR("Cannot use ORBGPU because OpenCV is not built with gpu module.");
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
UFATAL("not implemented");
@@ -974,17 +992,10 @@ cv::Mat ORB::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyP
if(gpu_)
{
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
cv::gpu::GpuMat imgGpu(image);
cv::gpu::GpuMat descriptorsGPU;
(*_gpuOrb.obj)(imgGpu, cv::gpu::GpuMat(), keypoints, descriptorsGPU);
#else
cv::cuda::GpuMat imgGpu(image);
cv::cuda::GpuMat descriptorsGPU;
#ifdef HAVE_OPENCV_CUDAFEATURES2D
UFATAL("not implemented");
#endif
#endif
// Download descriptors
if (descriptorsGPU.empty())
descriptors = cv::Mat();
@@ -994,6 +1005,16 @@ cv::Mat ORB::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyP
descriptors = cv::Mat(descriptorsGPU.size(), CV_32F);
descriptorsGPU.download(descriptors);
}
#else
UERROR("GPU version of ORB not available (OpenCV not built with gpu/cuda module)! Using CPU version instead...");
#endif
#else
cv::cuda::GpuMat imgGpu(image);
cv::cuda::GpuMat descriptorsGPU;
#ifdef HAVE_OPENCV_CUDAFEATURES2D
UFATAL("not implemented");
#endif
#endif
}
else
{
@@ -1041,34 +1062,42 @@ void FAST::parseParameters(const ParametersMap & parameters)
UASSERT_MSG(threshold_ <= maxThreshold_, uFormat("%d vs %d", threshold_, maxThreshold_).c_str());
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() == 0)
{
UWARN("GPU version of FAST not available! Using CPU version instead...");
gpu_ = false;
}
#else
if(gpu_)
{
UWARN("GPU version of FAST not available (OpenCV not built with gpu/cuda module)! Using CPU version instead...");
gpu_ = false;
}
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
if(gpu_ && cv::cuda::getCudaEnabledDeviceCount() == 0)
{
UWARN("GPU version of FAST not available! Using CPU version instead...");
gpu_ = false;
}
#ifndef HAVE_OPENCV_CUDAFEATURES2D
#else
if(gpu_)
{
UWARN("GPU version of FAST not available (OpenCV cudafeatures2d module)! Using CPU version instead...");
gpu_ = false;
}
#endif
if(gpu_)
{
UWARN("GPU version of FAST is available but not yet implemented! Using CPU version instead...");
}
gpu_ = false;
#endif
if(gpu_)
{
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
_gpuFast = new CV_FAST_GPU(threshold_, nonmaxSuppression_, gpuKeypointsRatio_);
#else
UFATAL("not supposed to be here!");
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
UFATAL("not implemented");
@@ -1116,9 +1145,13 @@ std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, con
if(gpu_)
{
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
cv::gpu::GpuMat imgGpu(imgRoi);
cv::gpu::GpuMat maskGpu(maskRoi);
(*_gpuFast.obj)(imgGpu, maskGpu, keypoints);
#else
UERROR("Cannot use FAST GPU because OpenCV is not built with gpu module.");
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
UFATAL("not implemented");

25
corelib/src/VWDictionary.cpp
View File

@@ -462,24 +462,33 @@ void VWDictionary::setNNStrategy(NNStrategy strategy)
if(strategy!=kNNUndef)
{
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
if(strategy == kNNBruteForceGPU && !cv::gpu::getCudaEnabledDeviceCount())
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#else
if(strategy == kNNBruteForceGPU)
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but OpenCV is not built with GPU/cuda module! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#endif
#else
#if HAVE_OPENCV_CUDAFEATURES2D
if(strategy == kNNBruteForceGPU && !cv::cuda::getCudaEnabledDeviceCount())
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#endif
#ifndef HAVE_OPENCV_CUDAFEATURES2D
#else
if(strategy == kNNBruteForceGPU)
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but OpenCV cudafeatures2d module is not found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#endif
#endif
if(RTABMAP_NONFREE == 0 && strategy == kNNFlannKdTree)
@@ -832,6 +841,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
{
bruteForce = true;
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
cv::gpu::GpuMat newDescriptorsGpu(descriptors);
cv::gpu::GpuMat lastDescriptorsGpu(_dataTree);
if(type==CV_8U)
@@ -844,6 +854,9 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
UERROR("Cannot use brute Force GPU because OpenCV is not built with gpu module.");
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::cuda::GpuMat newDescriptorsGpu(descriptors);
@@ -859,6 +872,8 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
UERROR("Cannot use brute Force GPU because OpenCV is not built with cuda module.");
#endif
#endif
}
@@ -1068,6 +1083,7 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
{
bruteForce = true;
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
cv::gpu::GpuMat newDescriptorsGpu(query);
cv::gpu::GpuMat lastDescriptorsGpu(_dataTree);
if(type==CV_8U)
@@ -1080,6 +1096,9 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
UERROR("Cannot use brute Force GPU because OpenCV is not built with gpu module.");
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::cuda::GpuMat newDescriptorsGpu(query);
@@ -1095,6 +1114,8 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher->knnMatchAsync(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
UERROR("Cannot use brute Force GPU because OpenCV is not built with cuda module.");
#endif
#endif
}

10
corelib/src/util3d_surface.cpp
View File

@@ -36,7 +36,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/features/normal_3d.h>
#include <pcl/surface/mls.h>
#include <pcl/surface/texture_mapping.h>
#ifndef DISABLE_VTK
#include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
#endif
namespace rtabmap
{
@@ -367,11 +370,16 @@ void adjustNormalsToViewPoints(
pcl::PolygonMesh::Ptr meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor)
{
pcl::PolygonMesh::Ptr output(new pcl::PolygonMesh);
#ifndef DISABLE_VTK
pcl::MeshQuadricDecimationVTK mqd;
mqd.setTargetReductionFactor(factor);
mqd.setInputMesh(mesh);
pcl::PolygonMesh::Ptr output(new pcl::PolygonMesh);
mqd.process (*output);
#else
UWARN("RTAB-Map is not built with VTK module so mesh decimation cannot be used!");
*output = *mesh;
#endif
return output;
}