Fixed SIFT build errors with OpenCV 4.3.0

CMakeLists.txt

@@ -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"
@@ -293,12 +293,20 @@ IF(NOT CATKIN_BUILD)
      ELSE()
        MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION_MAJOR} xfeatures2d module (BRIEF/FREAK/KAZE) = NO (not found)")
      ENDIF()
+     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()
 
    IF(QT4_FOUND)
       MESSAGE(STATUS "  With Qt4 = YES")

example/main.cpp

@@ -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());

src/ParametersToolBox.cpp

@@ -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

src/Settings.cpp

@@ -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())
 			{
 
-#if FINDOBJECT_NONFREE == 0
                 //check for nonfree stuff
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
+#if FINDOBJECT_NONFREE == 0
 				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())
 			{
 
-#if FINDOBJECT_NONFREE == 0
                 //check for nonfree stuff
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
+#if FINDOBJECT_NONFREE == 0
 				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)
 				{

tools/similarity/main.cpp

@@ -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);