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added Odometry view to MainWindow, increased version to 0.7.3

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Mathieu Labbe
2014-12-02 17:01:24 -05:00
parent 72bac39943
commit 9e1d38fe09
7 changed files with 135 additions and 61 deletions
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14
corelib/src/Features2d.cpp
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@@ -481,7 +481,7 @@ void SURF::parseParameters(const ParametersMap & parameters)
_surf = new cv::SURF(hessianThreshold_, nOctaves_, nOctaveLayers_, extended_, upright_);
}
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
UWARN("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
#endif
}
@@ -502,7 +502,7 @@ std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, con
_surf->detect(imgRoi, keypoints);
}
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
UWARN("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
#endif
return keypoints;
}
@@ -533,7 +533,7 @@ cv::Mat SURF::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
_surf->compute(image, keypoints, descriptors);
}
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
UWARN("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
#endif
return descriptors;
@@ -561,7 +561,7 @@ SIFT::~SIFT()
delete _sift;
}
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
}
@@ -582,7 +582,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
_sift = new cv::SIFT(nfeatures_, nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_);
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
}
@@ -594,7 +594,7 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
cv::Mat imgRoi(image, roi);
_sift->detect(imgRoi, keypoints); // Opencv keypoints
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
return keypoints;
}
@@ -606,7 +606,7 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
#if RTABMAP_NONFREE == 1
_sift->compute(image, keypoints, descriptors);
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
return descriptors;
}