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Fixed SIFT build errors with OpenCV 4.3.0

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This commit is contained in:
matlabbe 2020-05-09 12:29:24 -04:00
parent 88418c7d9a
commit 328c7236b5
5 changed files with 153 additions and 10 deletions
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20
CMakeLists.txt
View File

@ -166,9 +166,9 @@ IF(NOT CATKIN_BUILD)
ADD_SUBDIRECTORY( src )
ADD_SUBDIRECTORY( app )
ADD_SUBDIRECTORY( tools )
IF(NONFREE)
IF(NONFREE OR OpenCV_VERSION VERSION_GREATER "4.2.0") # SIFT is free from 4.3.0
ADD_SUBDIRECTORY( example )
ENDIF(NONFREE)
ENDIF(NONFREE OR OpenCV_VERSION VERSION_GREATER "4.2.0")
#######################
# Uninstall target, for "make uninstall"
@ -293,10 +293,18 @@ IF(NOT CATKIN_BUILD)
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION_MAJOR} xfeatures2d module (BRIEF/FREAK/KAZE) = NO (not found)")
ENDIF()
IF(NONFREE)
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SIFT/SURF) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SIFT/SURF) = NO")
IF(OpenCV_VERSION VERSION_GREATER "4.2.0")
IF(NONFREE)
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SURF) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SURF) = NO")
ENDIF()
ELSEIF()
IF(NONFREE)
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SIFT/SURF) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SIFT/SURF) = NO")
ENDIF()
ENDIF()
ENDIF()

8
example/main.cpp
View File

@ -108,8 +108,10 @@ int main(int argc, char * argv[])
// detector = cv::Ptr(new cv::StarFeatureDetector());
// detector = cv::Ptr(new cv::SURF(600.0));
// detector = cv::Ptr(new cv::BRISK());
#else
#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
detector = cv::xfeatures2d::SIFT::create();
#else // >= 4.3.0
detector = cv::SIFT::create();
#endif
detector->detect(objectImg, objectKeypoints);
printf("Object: %d keypoints detected in %d ms\n", (int)objectKeypoints.size(), time.restart());
@ -128,8 +130,10 @@ int main(int argc, char * argv[])
// extractor = cv::Ptr(new cv::SURF(600.0));
// extractor = cv::Ptr(new cv::BRISK());
// extractor = cv::Ptr(new cv::FREAK());
#else
#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
extractor = cv::xfeatures2d::SIFT::create();
#else // >= 4.3.0
extractor = cv::SIFT::create();
#endif
extractor->compute(objectImg, objectKeypoints, objectDescriptors);
printf("Object: %d descriptors extracted in %d ms\n", objectDescriptors.rows, time.restart());

4
src/ParametersToolBox.cpp
View File

@ -346,7 +346,9 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
if(key.compare(Settings::kFeature2D_1Detector()) == 0)
{
#if FINDOBJECT_NONFREE == 0
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3) // <4.3.0
widget->setItemData(5, 0, Qt::UserRole - 1); // disable SIFT
#endif
widget->setItemData(7, 0, Qt::UserRole - 1); // disable SURF
#endif
#if CV_MAJOR_VERSION < 3
@ -366,7 +368,9 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
if(key.compare(Settings::kFeature2D_2Descriptor()) == 0)
{
#if FINDOBJECT_NONFREE == 0
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3) // <4.3.0
widget->setItemData(2, 0, Qt::UserRole - 1); // disable SIFT
#endif
widget->setItemData(3, 0, Qt::UserRole - 1); // disable SURF
#endif
#if CV_MAJOR_VERSION < 3

127
src/Settings.cpp
View File

@ -137,6 +137,7 @@ ParametersMap Settings::loadSettings(const QString & fileName)
int index = str.split(':').first().toInt();
if(key.compare(Settings::kFeature2D_1Detector()) == 0)
{
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#if FINDOBJECT_NONFREE == 0
if(index == 5 || index == 7)
{
@ -147,6 +148,16 @@ ParametersMap Settings::loadSettings(const QString & fileName)
Settings::defaultFeature2D_1Detector().split(':').last().split(";").at(index).toStdString().c_str());
}
#endif
#elif FINDOBJECT_NONFREE == 0
if(index == 7)
{
index = Settings::defaultFeature2D_1Detector().split(':').first().toInt();
UWARN("Trying to set \"%s\" to SURF but Find-Object isn't built "
"with the nonfree module from OpenCV. Keeping default combo value: %s.",
Settings::kFeature2D_1Detector().toStdString().c_str(),
Settings::defaultFeature2D_1Detector().split(':').last().split(";").at(index).toStdString().c_str());
}
#endif
#if FINDOBJECT_TORCH == 0
if(index == 12)
{
@ -160,6 +171,7 @@ ParametersMap Settings::loadSettings(const QString & fileName)
}
else if(key.compare(Settings::kFeature2D_2Descriptor()) == 0)
{
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#if FINDOBJECT_NONFREE == 0
if(index == 2 || index == 3)
{
@ -170,6 +182,16 @@ ParametersMap Settings::loadSettings(const QString & fileName)
Settings::defaultFeature2D_2Descriptor().split(':').last().split(";").at(index).toStdString().c_str());
}
#endif
#elif FINDOBJECT_NONFREE == 0
if(index == 3)
{
index = Settings::defaultFeature2D_2Descriptor().split(':').first().toInt();
UWARN("Trying to set \"%s\" to SURF but Find-Object isn't built "
"with the nonfree module from OpenCV. Keeping default combo value: %s.",
Settings::kFeature2D_2Descriptor().toStdString().c_str(),
Settings::defaultFeature2D_2Descriptor().split(':').last().split(";").at(index).toStdString().c_str());
}
#endif
#if FINDOBJECT_TORCH == 0
if(index == 11)
{
@ -688,8 +710,9 @@ Feature2D * Settings::createKeypointDetector()
if(index>=0 && index<strategies.size())
{
//check for nonfree stuff
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#if FINDOBJECT_NONFREE == 0
//check for nonfree stuff
if(strategies.at(index).compare("SIFT") == 0 ||
strategies.at(index).compare("SURF") == 0)
{
@ -700,6 +723,16 @@ Feature2D * Settings::createKeypointDetector()
}
#endif
#elif FINDOBJECT_NONFREE == 0
if(strategies.at(index).compare("SURF") == 0)
{
index = Settings::defaultFeature2D_1Detector().split(':').first().toInt();
UERROR("Find-Object is not built with OpenCV nonfree module so "
"SURF cannot be used! Using default \"%s\" instead.",
strategies.at(index).toStdString().c_str());
}
#endif
#if FINDOBJECT_TORCH == 0
//check for nonfree stuff
@ -964,6 +997,7 @@ Feature2D * Settings::createKeypointDetector()
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3) // <4.3.0
#if FINDOBJECT_NONFREE == 1
else if(strategies.at(index).compare("SIFT") == 0)
{
@ -1018,6 +1052,44 @@ Feature2D * Settings::createKeypointDetector()
}
}
#endif
#else // >= 4.3.0
else if(strategies.at(index).compare("SIFT") == 0)
{
feature2D = new Feature2D(cv::SIFT::create(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma()));
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#if FINDOBJECT_NONFREE == 1
else if(strategies.at(index).compare("SURF") == 0)
{
if(getFeature2D_SURF_gpu() && CVCUDA::getCudaEnabledDeviceCount())
{
feature2D = new GPUSURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_keypointsRatio(),
getFeature2D_SURF_upright());
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
else
{
feature2D = new Feature2D(cv::xfeatures2d::SURF::create(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_upright()));
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
#endif
#endif
#if FINDOBJECT_TORCH == 1
else if(strategies.at(index).compare("SuperPointTorch") == 0)
{
@ -1053,8 +1125,9 @@ Feature2D * Settings::createDescriptorExtractor()
if(index>=0 && index<strategies.size())
{
//check for nonfree stuff
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#if FINDOBJECT_NONFREE == 0
//check for nonfree stuff
if(strategies.at(index).compare("SIFT") == 0 ||
strategies.at(index).compare("SURF") == 0)
{
@ -1065,6 +1138,16 @@ Feature2D * Settings::createDescriptorExtractor()
}
#endif
#elif FINDOBJECT_NONFREE == 0 // >= 4.3.0
if(strategies.at(index).compare("SURF") == 0)
{
index = Settings::defaultFeature2D_2Descriptor().split(':').first().toInt();
UERROR("Find-Object is not built with OpenCV nonfree module so "
"SURF cannot be used! Using default \"%s\" instead.",
strategies.at(index).toStdString().c_str());
}
#endif
#if FINDOBJECT_TORCH == 0
//check for nonfree stuff
@ -1269,6 +1352,7 @@ Feature2D * Settings::createDescriptorExtractor()
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#endif
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3) // <4.3.0
#if FINDOBJECT_NONFREE == 1
else if(strategies.at(index).compare("SIFT") == 0)
{
@ -1323,6 +1407,45 @@ Feature2D * Settings::createDescriptorExtractor()
}
}
#endif
#else // >= 4.3.0
else if(strategies.at(index).compare("SIFT") == 0)
{
feature2D = new Feature2D(cv::SIFT::create(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma()));
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#if FINDOBJECT_NONFREE == 1
else if(strategies.at(index).compare("SURF") == 0)
{
if(getFeature2D_SURF_gpu() && CVCUDA::getCudaEnabledDeviceCount())
{
feature2D = new GPUSURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_keypointsRatio(),
getFeature2D_SURF_upright());
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
else
{
feature2D = new Feature2D(cv::xfeatures2d::SURF::create(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_upright()));
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
#endif
#endif
#if FINDOBJECT_TORCH == 1
else if(strategies.at(index).compare("SuperPointTorch") == 0)
{

4
tools/similarity/main.cpp
View File

@ -121,7 +121,11 @@ int main(int argc, char * argv[])
////////////////////////////
// EXTRACT KEYPOINTS
////////////////////////////
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 and CV_MINOR_VERSION < 3)
cv::Ptr<cv::xfeatures2d::SIFT> sift = cv::xfeatures2d::SIFT::create();
#else
cv::Ptr<cv::SIFT> sift = cv::SIFT::create();
#endif
sift->detect(objectImg, objectKeypoints);
sift->detect(sceneImg, sceneKeypoints);