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changed all WITH_NONFREE to RTABMAP_NONFREE == 1

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Mathieu Labbe
2014-11-28 15:45:00 -05:00
parent a1301eeaab
commit e62b1e2769
4 changed files with 11 additions and 15 deletions
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20
corelib/src/Features2d.cpp
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@@ -37,7 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/gpu/gpu.hpp>
#include <opencv2/core/version.hpp>
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
#if CV_MAJOR_VERSION > 2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
#include <opencv2/nonfree/gpu.hpp>
#include <opencv2/nonfree/features2d.hpp>
@@ -354,7 +354,7 @@ Feature2D * Feature2D::create(Feature2D::Type & type, const ParametersMap & para
case Feature2D::kFeatureBrisk:
feature2D = new BRISK(parameters);
break;
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
default:
feature2D = new SURF(parameters);
type = Feature2D::kFeatureSurf;
@@ -433,7 +433,7 @@ SURF::SURF(const ParametersMap & parameters) :
SURF::~SURF()
{
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
if(_surf)
{
delete _surf;
@@ -455,7 +455,7 @@ void SURF::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kSURFGpuKeypointsRatio(), gpuKeypointsRatio_);
Parameters::parse(parameters, Parameters::kSURFGpuVersion(), gpuVersion_);
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
if(_gpuSurf)
{
delete _gpuSurf;
@@ -490,7 +490,7 @@ std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, con
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
cv::Mat imgRoi(image, roi);
if(_gpuSurf)
{
@@ -511,7 +511,7 @@ cv::Mat SURF::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
cv::Mat descriptors;
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
if(_gpuSurf)
{
cv::gpu::GpuMat imgGpu(image);
@@ -555,7 +555,7 @@ SIFT::SIFT(const ParametersMap & parameters) :
SIFT::~SIFT()
{
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
if(_sift)
{
delete _sift;
@@ -573,7 +573,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kSIFTNOctaveLayers(), nOctaveLayers_);
Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma_);
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
if(_sift)
{
delete _sift;
@@ -590,7 +590,7 @@ 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;
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
cv::Mat imgRoi(image, roi);
_sift->detect(imgRoi, keypoints); // Opencv keypoints
#else
@@ -603,7 +603,7 @@ 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;
#ifdef WITH_NONFREE
#if RTABMAP_NONFREE == 1
_sift->compute(image, keypoints, descriptors);
#else
UERROR("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");

3
corelib/src/util3d.cpp
View File

@@ -41,9 +41,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/ModelCoefficients.h>
#include <pcl/segmentation/sac_segmentation.h>
#ifdef WITH_NONFREE
#include <opencv2/nonfree/features2d.hpp>
#endif
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/video/tracking.hpp>
#include <rtabmap/core/VWDictionary.h>