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Preferences: Fixed xfeatures2d features not available without nonfree on OpenCV >= 3.4.2 (https://github.com/introlab/rtabmap_ros/issues/422)

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matlabbe
2020-05-25 17:29:22 -04:00
parent 35385e299d
commit b40d9610ed
7 changed files with 88 additions and 47 deletions
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18
corelib/include/rtabmap/core/Parameters.h
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@@ -32,6 +32,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/Version.h" // DLL export/import defines
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/core/version.hpp>
#include <opencv2/opencv_modules.hpp>
#include <string>
#include <map>
@@ -239,13 +241,9 @@ 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.)");
#ifndef RTABMAP_NONFREE
#ifdef RTABMAP_OPENCV3
// OpenCV 3 without xFeatures2D module doesn't have BRIEF
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_FEATURES2D)
// 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
RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "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.");
#endif
#else
RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "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.");
#endif
@@ -586,13 +584,9 @@ 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.");
#ifndef RTABMAP_NONFREE
#ifdef RTABMAP_OPENCV3
// OpenCV 3 without xFeatures2D module doesn't have BRIEF
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_FEATURES2D)
// 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
RTABMAP_PARAM(Vis, FeatureType, int, 6, "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.");
#endif
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "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.");
#endif

2
corelib/src/Features2d.cpp
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@@ -501,7 +501,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
#ifndef RTABMAP_NONFREE
if(type == Feature2D::kFeatureSurf)
{
UWARN("SURF features cannot be used because OpenCV was not built with xfeatures2d module. SIFT is used instead.");
UWARN("SURF features cannot be used because OpenCV was not built with nonfree module. SIFT is used instead.");
type = Feature2D::kFeatureSift;
}
#endif

9
corelib/src/Parameters.cpp
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@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "SimpleIni.h"
#include <opencv2/core/version.hpp>
#include <pcl/pcl_config.h>
#include <opencv2/opencv_modules.hpp>
#ifndef DISABLE_VTK
#include <vtkVersion.h>
#endif
@@ -602,6 +603,14 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
#endif
str = "OpenCV:";
std::cout << str << std::setw(spacing - str.size()) << CV_VERSION << std::endl;
#if CV_MAJOR_VERSION >= 3
str = "With OpenCV xfeatures2d:";
#ifdef HAVE_OPENCV_XFEATURES2D
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
#endif
str = "With OpenCV nonfree:";
#ifdef RTABMAP_NONFREE
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;