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SIFT: fixed SIFT not extracted with OpenCV >=4.4 and >=3.4.11 when nonfree is false

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matlabbe
2020-10-17 20:34:24 -04:00
parent 3047b7da6b
commit a4da1e14b4
2 changed files with 22 additions and 16 deletions
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16
corelib/src/DBReader.cpp
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@@ -47,16 +47,16 @@ DBReader::DBReader(const std::string & databasePath,
bool odometryIgnored,
bool ignoreGoalDelay,
bool goalsIgnored,
int stopId,
int startId,
int cameraIndex,
int endId) :
int stopId) :
Camera(frameRate),
_paths(uSplit(databasePath, ';')),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_goalsIgnored(goalsIgnored),
_startId(stopId),
_stopId(endId),
_startId(startId),
_stopId(stopId),
_cameraIndex(cameraIndex),
_dbDriver(0),
_currentId(_ids.end()),
@@ -76,16 +76,16 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
bool odometryIgnored,
bool ignoreGoalDelay,
bool goalsIgnored,
int stopId,
int startId,
int cameraIndex,
int endId) :
int stopId) :
Camera(frameRate),
_paths(databasePaths),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_goalsIgnored(goalsIgnored),
_startId(stopId),
_stopId(endId),
_startId(startId),
_stopId(stopId),
_cameraIndex(cameraIndex),
_dbDriver(0),
_currentId(_ids.end()),

22
corelib/src/Features2d.cpp
View File

@@ -977,7 +977,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
#else
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
#else
#else // >=4.4, >=3.4.11
_sift = CV_SIFT::create(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_);
#endif
}
@@ -986,16 +986,20 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
cv::Mat imgRoi(image, roi);
cv::Mat maskRoi;
if(!mask.empty())
{
maskRoi = cv::Mat(mask, roi);
}
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#ifdef RTABMAP_NONFREE
_sift->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
#else
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
#else // >=4.4, >=3.4.11
_sift->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
#endif
return keypoints;
}
@@ -1004,9 +1008,15 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
cv::Mat descriptors;
#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#ifdef RTABMAP_NONFREE
_sift->compute(image, keypoints, descriptors);
#else
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
#else // >=4.4, >=3.4.11
_sift->compute(image, keypoints, descriptors);
#endif
if( rootSIFT_ && !descriptors.empty())
{
UDEBUG("Performing RootSIFT...");
@@ -1022,10 +1032,6 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
cv::sqrt(descriptors.row(i), descriptors.row(i));
}
}
#else
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif
return descriptors;
}