i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed SIFT build issue between OpenCV 4.3.0 and OpenCV 4.3.0-dev

Browse Source
This commit is contained in:
matlabbe
2020-05-27 10:35:18 -04:00
parent 798466bb05
commit ae5ce029d6
5 changed files with 22 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
corelib/include/rtabmap/core/Features2d.h
View File

@@ -62,7 +62,7 @@ namespace cv{
namespace xfeatures2d {
class FREAK;
class BriefDescriptorExtractor;
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 and CV_MINOR_VERSION < 3)
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
class SIFT;
#endif
class SURF;
@@ -73,10 +73,10 @@ class ORB;
class SURF_CUDA;
}
}
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 and CV_MINOR_VERSION < 3)
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
typedef cv::xfeatures2d::SIFT CV_SIFT;
#else
typedef cv::SIFT CV_SIFT; // SIFT is back in features2d since 4.3.0
typedef cv::SIFT CV_SIFT; // SIFT is back in features2d since 4.3.0-dev
#endif
typedef cv::xfeatures2d::SURF CV_SURF;
typedef cv::FastFeatureDetector CV_FAST;

8
corelib/src/Features2d.cpp
View File

@@ -473,7 +473,7 @@ Feature2D * Feature2D::create(const ParametersMap & parameters)
Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parameters)
{
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
#ifndef RTABMAP_NONFREE
if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSift)
{
@@ -496,7 +496,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
#endif
#endif
#else // >= 4.3.0
#else // >= 4.3.0-dev
#ifndef RTABMAP_NONFREE
if(type == Feature2D::kFeatureSurf)
@@ -506,7 +506,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
}
#endif
#endif // 4.3.0
#endif // 4.3.0-dev
#if CV_MAJOR_VERSION < 3
if(type == Feature2D::kFeatureKaze)
@@ -925,7 +925,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma_);
Parameters::parse(parameters, Parameters::kSIFTRootSIFT(), rootSIFT_);
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
#ifdef RTABMAP_NONFREE
#if CV_MAJOR_VERSION < 3
_sift = cv::Ptr<CV_SIFT>(new CV_SIFT(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_));