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Added KAZE feature detector (OpenCV3)

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matlabbe
2017-07-25 16:20:05 -04:00
parent 5855198b5f
commit f3e491f15b
6 changed files with 271 additions and 62 deletions
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34
guilib/src/PreferencesDialog.cpp
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@@ -197,8 +197,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#if CV_MAJOR_VERSION >= 3
_ui->groupBox_fast_opencv2->setEnabled(false);
#else
_ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No FREAK (detector+descriptor version)
_ui->reextract_type->setItemData(9, 0, Qt::UserRole - 1); // No FREAK (detector+descriptor version)
_ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
_ui->reextract_type->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
#endif
_ui->comboBox_cameraImages_odomFormat->setItemData(4, 0, Qt::UserRole - 1);
@@ -746,6 +746,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_BRISK_octaves->setObjectName(Parameters::kBRISKOctaves().c_str());
_ui->doubleSpinBox_BRISK_patterScale->setObjectName(Parameters::kBRISKPatternScale().c_str());
//KAZE
_ui->checkBox_kaze_extended->setObjectName(Parameters::kKAZEExtended().c_str());
_ui->checkBox_kaze_upright->setObjectName(Parameters::kKAZEUpright().c_str());
_ui->doubleSpinBox_kaze_threshold->setObjectName(Parameters::kKAZEThreshold().c_str());
_ui->spinBox_kaze_octaves->setObjectName(Parameters::kKAZENOctaves().c_str());
_ui->spinBox_kaze_octavelayers->setObjectName(Parameters::kKAZENOctaveLayers().c_str());
_ui->spinBox_kaze_diffusivity->setObjectName(Parameters::kKAZEDiffusivity().c_str());
// verifyHypotheses
_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
_ui->surf_spinBox_matchCountMinAccepted->setObjectName(Parameters::kVhEpMatchCountMin().c_str());
@@ -2364,19 +2372,33 @@ bool PreferencesDialog::validateForm()
#endif
#if CV_MAJOR_VERSION < 3
if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureFreak)
if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureKaze)
{
#ifdef RTABMAP_NONFREE
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (FREAK detector) is not available on OpenCV2. ORB is set instead "
tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead "
"for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureSurf);
#else
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead "
"for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
#endif
}
if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureFreak)
if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureKaze)
{
#ifdef RTABMAP_NONFREE
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (FREAK detector) is not available on OpenCV2. ORB is set instead "
tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureSurf);
#else
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureOrb);
#endif
}
#endif