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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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17
guilib/src/AboutDialog.cpp
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@@ -47,12 +47,25 @@ AboutDialog::AboutDialog(QWidget * parent) :
version.append(" [DEMO]");
#endif
QString cv_version = CV_VERSION;
#ifdef RTABMAP_NONFREE
#if CV_MAJOR_VERSION < 3
#ifdef RTABMAP_NONFREE
cv_version.append(" [With nonfree]");
_ui->label_opencv_license->setText("Not Commercial");
#else
#else
cv_version.append(" [Without nonfree]");
_ui->label_opencv_license->setText("BSD");
#endif
#elif defined(HAVE_OPENCV_XFEATURES2D)
#ifdef RTABMAP_NONFREE
cv_version.append(" [With xfeatures2d, nonfree]");
_ui->label_opencv_license->setText("Not Commercial");
#else
cv_version.append(" [With xfeatures2d]");
_ui->label_opencv_license->setText("BSD");
#endif
#else
cv_version.append(" [Without xfeatures2d and nonfree]");
_ui->label_opencv_license->setText("BSD");
#endif
_ui->label_version->setText(version);
_ui->label_opencv_version->setText(cv_version);

70
guilib/src/PreferencesDialog.cpp
View File

@@ -191,26 +191,29 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
#endif
//SURF
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1);
#if CV_MAJOR_VERSION >= 3
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(3, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(4, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(5, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(6, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(3, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(4, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(5, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(6, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1);
#endif
// SIFT
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1);
#endif
#endif
#if CV_MAJOR_VERSION >= 3 && !defined(HAVE_OPENCV_XFEATURES2D)
_ui->comboBox_detector_strategy->setItemData(3, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(4, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(5, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(6, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(3, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(4, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(5, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(6, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_ORB_OCTREE
@@ -219,16 +222,16 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#endif
#ifndef RTABMAP_SUPERPOINT_TORCH
_ui->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_PYMATCHER
_ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1);
_ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1);
#endif
#if !defined(HAVE_OPENCV_XFEATURES2D) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION<4 || CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<1))
_ui->reextract_nn->setItemData(7, 0, Qt::UserRole - 1);
_ui->reextract_nn->setItemData(7, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION >= 3
@@ -2918,6 +2921,7 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath) const
bool PreferencesDialog::validateForm()
{
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#ifndef RTABMAP_NONFREE
// verify that SURF/SIFT cannot be selected if not built with OpenCV nonfree module
// BOW dictionary type
@@ -2938,6 +2942,28 @@ bool PreferencesDialog::validateForm()
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureFastBrief);
}
#endif
#else //>= 4.3.0
#ifndef RTABMAP_NONFREE
// verify that SURF cannot be selected if not built with OpenCV nonfree module
// BOW dictionary type
if(_ui->comboBox_detector_strategy->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. SIFT is set instead for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureSift);
}
// BOW Reextract features type
if(_ui->vis_feature_detector->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. Fast/Brief is set instead for the re-extraction "
"of features on loop closure."));
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureFastBrief);
}
#endif
#endif
#if CV_MAJOR_VERSION < 3
if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureKaze)