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If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-21 23:37:23 +00:00
parent 08d0bc4ad5
commit 374ef280f2
10 changed files with 223 additions and 32 deletions
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corelib/src/util3d.cpp
+4 -2
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@@ -41,7 +41,9 @@ 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>
@@ -1123,7 +1125,7 @@ cv::Mat uncompressImage(const cv::Mat & bytes)
cv::Mat image;
if(!bytes.empty())
{
#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
#if CV_MAJOR_VERSION>2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);
@@ -1137,7 +1139,7 @@ cv::Mat uncompressImage(const std::vector<unsigned char> & bytes)
cv::Mat image;
if(bytes.size())
{
#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
#if CV_MAJOR_VERSION>2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);