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

CMakeLists.txt

@@ -672,6 +672,10 @@ ENDIF(APPLE AND BUILD_AS_BUNDLE)
 SET(CONF_DEPENDENCIES 
     ${ZLIB_LIBRARIES}
 )
+
+# OpenCV2 has nonfree if OPENCV_NONFREE_FOUND
+# OpenCV<=3.4.2 has nonfree if OPENCV_XFEATURES2D_FOUND
+# OpenCV>3.4.2 has nonfree if OPENCV_XFEATURES2D_FOUND and OPENCV_ENABLE_NONFREE is defined
 IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
    SET(NONFREE "//")
 ELSEIF(OpenCV_VERSION VERSION_GREATER "3.4.2")
@@ -1056,18 +1060,14 @@ IF(OpenCV_FOUND)
       MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found, License: BSD)")
     ENDIF()
   ELSE()
-    IF(OpenCV_VERSION VERSION_GREATER "4.2.0")
+    IF(OPENCV_XFEATURES2D_FOUND)
-      IF(OPENCV_XFEATURES2D_FOUND)
+      IF(NONFREE STREQUAL "//")
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d module (SURF/BRIEF/FREAK) = YES (License: Non commercial)")
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: BSD)")
       ELSE()
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d module (SURF/BRIEF/FREAK) = NO (not found, License: BSD)")
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES (License: Non commercial)")
       ENDIF()
     ELSE()
-      IF(OPENCV_XFEATURES2D_FOUND)
+      MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: BSD)")
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)")
-      ELSE()
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = NO (not found, License: BSD)")
-      ENDIF()
     ENDIF()
   ENDIF()
 ENDIF(OpenCV_FOUND)

Version.h.in

@@ -44,7 +44,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @GTSAM@#define RTABMAP_GTSAM
 @CERES@#define RTABMAP_CERES
 @VERTIGO@#define RTABMAP_VERTIGO
-@OPENCV3@#define RTABMAP_OPENCV3
 @OPENNI2@#define RTABMAP_OPENNI2
 @FREENECT@#define RTABMAP_FREENECT
 @FREENECT2@#define RTABMAP_FREENECT2

corelib/include/rtabmap/core/Parameters.h

@@ -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
+#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_FEATURES2D)
-#ifdef RTABMAP_OPENCV3
+    // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-    // OpenCV 3 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
+#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_FEATURES2D)
-#ifdef RTABMAP_OPENCV3
+    // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-    // OpenCV 3 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

corelib/src/Features2d.cpp

@@ -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

corelib/src/Parameters.cpp

@@ -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;

guilib/src/AboutDialog.cpp

@@ -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);

guilib/src/PreferencesDialog.cpp

@@ -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(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(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);
 #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->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1);
-		_ui->vis_feature_detector->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)