Added Version.h.in. When NONFREE module is not detected, disable SIFT/SURF instead of hiding them.

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@413 620bd6b2-0a58-f614-fd9a-1bd335dccda9

CMakeLists.txt

@@ -85,8 +85,11 @@ FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork REQUIRED) # tested on Qt4.8
 ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals used in ROS
 
 IF(OPENCV_NONFREE_FOUND)
-  ADD_DEFINITIONS(-DWITH_NONFREE)
+  SET(NONFREE 1)
-ENDIF(OPENCV_NONFREE_FOUND)
+ELSE()
+  SET(NONFREE 0)
+ENDIF()
+CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/include/${PROJECT_PREFIX}/Version.h)
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE)

Version.h.in

@@ -0,0 +1,43 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+ 
+#ifndef VERSION_H_
+#define VERSION_H_
+
+// This is auto-generated!
+#define FINDOBJECT_VERSION "@PROJECT_VERSION@"
+
+#define FINDOBJECT_VERSION_MAJOR @PROJECT_VERSION_MAJOR@
+#define FINDOBJECT_VERSION_MINOR @PROJECT_VERSION_MINOR@
+#define FINDOBJECT_VERSION_PATCH @PROJECT_VERSION_PATCH@
+
+#define FINDOBJECT_VERSION_COMPARE(major, minor, patch)  (major>=@PROJECT_VERSION_MAJOR@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))
+
+#define FINDOBJECT_NONFREE @NONFREE@
+
+#endif /* VERSION_H_ */
+

include/find_object/Settings.h

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define SETTINGS_H_
 
 #include "find_object/FindObjectExp.h" // DLL export/import defines
+#include "find_object/Version.h" // DLL export/import defines
 
 #include <QtCore/QMap>
 #include <QtCore/QVariant>
@@ -80,6 +81,25 @@ typedef unsigned int uint;
 				descriptions_.insert(#PREFIX "/" #NAME, DESCRIPTION);} \
 		}; \
 		Dummy##PREFIX##_##NAME dummy##PREFIX##_##NAME;
+
+#define PARAMETER_COND(PREFIX, NAME, TYPE, COND, DEFAULT_VALUE1, DEFAULT_VALUE2, DESCRIPTION) \
+	public: \
+		static QString k##PREFIX##_##NAME() {return QString(#PREFIX "/" #NAME);} \
+		static TYPE default##PREFIX##_##NAME() {return COND?DEFAULT_VALUE1:DEFAULT_VALUE2;} \
+		static QString type##PREFIX##_##NAME() {return QString(#TYPE);} \
+		static QString description##PREFIX##_##NAME() {return QString(DESCRIPTION);} \
+		PARAMETER_GETTER_##TYPE(PREFIX, NAME) \
+		static void set##PREFIX##_##NAME(const TYPE & value) {parameters_[#PREFIX "/" #NAME] = value;} \
+	private: \
+		class Dummy##PREFIX##_##NAME { \
+		public: \
+			Dummy##PREFIX##_##NAME() { \
+				defaultParameters_.insert(#PREFIX "/" #NAME, QVariant(COND?DEFAULT_VALUE1:DEFAULT_VALUE2)); \
+				parameters_.insert(#PREFIX "/" #NAME, COND?DEFAULT_VALUE1:DEFAULT_VALUE2); \
+				parametersType_.insert(#PREFIX "/" #NAME, #TYPE); \
+				descriptions_.insert(#PREFIX "/" #NAME, DESCRIPTION);} \
+		}; \
+		Dummy##PREFIX##_##NAME dummy##PREFIX##_##NAME;
 // MACRO END
 
 class FINDOBJECT_EXP Settings
@@ -94,13 +114,9 @@ class FINDOBJECT_EXP Settings
 	PARAMETER(Camera, 9queueSize, int, 1, "Maximum images buffered from TCP. If 0, all images are buffered.");
 
 	//List format : [Index:item0;item1;item3;...]
-#ifdef WITH_NONFREE
+
-	PARAMETER(Feature2D, 1Detector, QString, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK" , "Keypoint detector.");
+	PARAMETER_COND(Feature2D, 1Detector, QString, FINDOBJECT_NONFREE, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK" , "1:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK", "Keypoint detector.");
-	PARAMETER(Feature2D, 2Descriptor, QString, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK", "Keypoint descriptor.");
+	PARAMETER_COND(Feature2D, 2Descriptor, QString, FINDOBJECT_NONFREE, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK", "0:Brief;ORB;SIFT;SURF;BRISK;FREAK", "Keypoint descriptor.");
-#else
-	PARAMETER(Feature2D, 1Detector, QString, "1:Dense;Fast;GFTT;MSER;ORB;Star;BRISK" , "Keypoint detector.");
-	PARAMETER(Feature2D, 2Descriptor, QString, "0:Brief;ORB;BRISK;FREAK", "Keypoint descriptor.");
-#endif
 	PARAMETER(Feature2D, 3MaxFeatures, int, 0, "Maximum features per image. If the number of features extracted is over this threshold, only X features with the highest response are kept. 0 means all features are kept.");
 	PARAMETER(Feature2D, 4Affine, bool, false, "(ASIFT) Extract features on multiple affine transformations of the image.");
 	PARAMETER(Feature2D, 5AffineCount, int, 6, "(ASIFT) Higher the value, more affine transformations will be done.");
@@ -147,7 +163,7 @@ class FINDOBJECT_EXP Settings
 	PARAMETER(Feature2D, MSER_minMargin, double, 0.003, "");
 	PARAMETER(Feature2D, MSER_edgeBlurSize, int, 5, "");
 
-#ifdef WITH_NONFREE
+#if FINDOBJECT_NONFREE == 1
 	PARAMETER(Feature2D, SIFT_nfeatures, int, 0, "The number of best features to retain. The features are ranked by their scores (measured in SIFT algorithm as the local contrast).");
 	PARAMETER(Feature2D, SIFT_nOctaveLayers, int, 3, "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution.");
 	PARAMETER(Feature2D, SIFT_contrastThreshold, double, 0.04, "The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector.");
@@ -178,13 +194,8 @@ class FINDOBJECT_EXP Settings
 	PARAMETER(Feature2D, FREAK_patternScale, float, 22.0f, "Scaling of the description pattern.");
 	PARAMETER(Feature2D, FREAK_nOctaves, int, 4, "Number of octaves covered by the detected keypoints.");
 
-#ifdef WITH_NONFREE
+	PARAMETER_COND(NearestNeighbor, 1Strategy, QString, FINDOBJECT_NONFREE, "1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "6:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "Nearest neighbor strategy.");
-	PARAMETER(NearestNeighbor, 1Strategy, QString, "1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "Nearest neighbor strategy.");
+	PARAMETER_COND(NearestNeighbor, 2Distance_type, QString, FINDOBJECT_NONFREE, "0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "1:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "Distance type.");
-	PARAMETER(NearestNeighbor, 2Distance_type, QString, "0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "Distance type.");
-#else
-	PARAMETER(NearestNeighbor, 1Strategy, QString, "6:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "Nearest neighbor strategy.");
-	PARAMETER(NearestNeighbor, 2Distance_type, QString, "1:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "Distance type.");
-#endif
 	PARAMETER(NearestNeighbor, 3nndrRatioUsed, bool, true, "Nearest neighbor distance ratio approach to accept the best match.");
 	PARAMETER(NearestNeighbor, 4nndrRatio, float, 0.8f, "Nearest neighbor distance ratio.");
 	PARAMETER(NearestNeighbor, 5minDistanceUsed, bool, false, "Minimum distance with the nearest descriptor to accept a match.");

src/AboutDialog.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "AboutDialog.h"
 #include "ui_aboutDialog.h"
 #include <opencv2/core/version.hpp>
+#include "find_object/Version.h"
 
 namespace find_object {
 
@@ -37,7 +38,15 @@ AboutDialog::AboutDialog(QWidget * parent) :
 	ui_ = new Ui_aboutDialog();
 	ui_->setupUi(this);
 	ui_->label_version->setText(PROJECT_VERSION);
-	ui_->label_version_opencv->setText(CV_VERSION);
+
+	QString cv_version = CV_VERSION;
+	#if RTABMAP_NONFREE == 1
+		cv_version.append(" [With nonfree]");
+	#else
+		cv_version.append(" [Without nonfree]");
+	#endif
+
+	ui_->label_version_opencv->setText(cv_version);
 }
 
 AboutDialog::~AboutDialog()

src/MainWindow.cpp

@@ -135,7 +135,7 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 
 	if(cv::gpu::getCudaEnabledDeviceCount() == 0)
 	{
-#ifdef WITH_NONFREE
+#if FINDOBJECT_NONFREE == 1
 		ui_->toolBox->updateParameter(Settings::kFeature2D_SURF_gpu());
 		ui_->toolBox->getParameterWidget(Settings::kFeature2D_SURF_gpu())->setEnabled(false);
 		ui_->toolBox->getParameterWidget(Settings::kFeature2D_SURF_keypointsRatio())->setEnabled(false);

src/ParametersToolBox.cpp

@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtGui/QVBoxLayout>
 #include <QtGui/QMessageBox>
 #include <stdio.h>
+#include "find_object/utilite/ULogger.h"
 
 namespace find_object {
 
@@ -336,6 +337,27 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
 		widget->setObjectName(key);
 		QStringList splitted = value.split(':');
 		widget->addItems(splitted.last().split(';'));
+#if FINDOBJECT_NONFREE == 0
+		if(key.compare(Settings::kFeature2D_1Detector()) == 0)
+		{
+			widget->setItemData(5, 0, Qt::UserRole - 1); // disable SIFT
+			widget->setItemData(7, 0, Qt::UserRole - 1); // disable SURF
+		}
+		if(key.compare(Settings::kFeature2D_2Descriptor()) == 0)
+		{
+			widget->setItemData(2, 0, Qt::UserRole - 1); // disable SIFT
+			widget->setItemData(3, 0, Qt::UserRole - 1); // disable SURF
+		}
+		if(key.compare(Settings::kNearestNeighbor_1Strategy()) == 0)
+		{
+			// disable FLANN approaches (cannot be used with binary descriptors)
+			widget->setItemData(0, 0, Qt::UserRole - 1);
+			widget->setItemData(1, 0, Qt::UserRole - 1);
+			widget->setItemData(2, 0, Qt::UserRole - 1);
+			widget->setItemData(3, 0, Qt::UserRole - 1);
+			widget->setItemData(4, 0, Qt::UserRole - 1);
+		}
+#endif
 		widget->setCurrentIndex(splitted.first().toInt());
 		connect(widget, SIGNAL(currentIndexChanged(int)), this, SLOT(changeParameter(int)));
 		addParameter(layout, key, widget);

src/Settings.cpp

@@ -34,7 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QDir>
 #include <stdio.h>
 #include <opencv2/calib3d/calib3d.hpp>
-#ifdef WITH_NONFREE
+#if FINDOBJECT_NONFREE == 1
 #include <opencv2/nonfree/features2d.hpp>
 #include <opencv2/nonfree/gpu.hpp>
 #endif
@@ -109,6 +109,49 @@ void Settings::loadSettings(const QString & fileName)
 					value = QVariant(str);
 					UINFO("Updated list of parameter \"%s\"", key.toStdString().c_str());
 				}
+#if FINDOBJECT_NONFREE == 0
+				QChar index = str.at(0);
+				if(key.compare(Settings::kFeature2D_1Detector()) == 0)
+				{
+					if(index == '5' || index == '7')
+					{
+						index = Settings::defaultFeature2D_1Detector().at(0);
+						int indexInt = Settings::defaultFeature2D_1Detector().split(':').first().toInt();
+						UWARN("Trying to set \"%s\" to SIFT/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(indexInt).toStdString().c_str());
+					}
+				}
+				if(key.compare(Settings::kFeature2D_2Descriptor()) == 0)
+				{
+					if(index == '2' || index == '3')
+					{
+						index = Settings::defaultFeature2D_2Descriptor().at(0);
+						int indexInt = Settings::defaultFeature2D_2Descriptor().split(':').first().toInt();
+						UWARN("Trying to set \"%s\" to SIFT/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(indexInt).toStdString().c_str());
+					}
+				}
+				if(key.compare(Settings::kNearestNeighbor_1Strategy()) == 0)
+				{
+					if(index <= '4')
+					{
+						index = Settings::defaultNearestNeighbor_1Strategy().at(0);
+						int indexInt = Settings::defaultNearestNeighbor_1Strategy().split(':').first().toInt();
+						UWARN("Trying to set \"%s\" to one FLANN approach but Find-Object isn't built "
+								  "with the nonfree module from OpenCV and FLANN cannot be used "
+								  "with binary descriptors. Keeping default combo value: %s.",
+								  Settings::kNearestNeighbor_1Strategy().toStdString().c_str(),
+								  Settings::defaultNearestNeighbor_1Strategy().split(':').last().split(";").at(indexInt).toStdString().c_str());
+					}
+				}
+				str = getParameter(key).toString();
+				str[0] = index.toAscii();
+				value = QVariant(str);
+#endif
 				setParameter(key, value);
 			}
 		}
@@ -122,7 +165,7 @@ void Settings::loadSettings(const QString & fileName)
 
 	if(cv::gpu::getCudaEnabledDeviceCount() == 0)
 	{
-#ifdef WITH_NONFREE
+#if FINDOBJECT_NONFREE == 1
 		Settings::setFeature2D_SURF_gpu(false);
 #endif
 		Settings::setFeature2D_Fast_gpu(false);
@@ -222,7 +265,7 @@ public:
 			cv::Mat & descriptors) = 0;
 };
 
-#ifdef WITH_NONFREE
+#if FINDOBJECT_NONFREE == 1
 class GPUSURF : public GPUFeature2D
 {
 public:
@@ -423,12 +466,23 @@ KeypointDetector * Settings::createKeypointDetector()
 		if(ok)
 		{
 			QStringList strategies = split.last().split(';');
-#ifdef WITH_NONFREE
+
 			if(strategies.size() == 9 && index>=0 && index<9)
-#else
-			if(strategies.size() == 7 && index>=0 && index<7)
-#endif
 			{
+
+#if FINDOBJECT_NONFREE == 0
+				//check for nonfree stuff
+				if(strategies.at(index).compare("SIFT") == 0 ||
+				   strategies.at(index).compare("SURF") == 0)
+				{
+					index = Settings::defaultFeature2D_1Detector().split(':').first().toInt();
+					UERROR("Find-Object is not built with OpenCV nonfree module so "
+							"SIFT/SURF cannot be used! Using default \"%s\" instead.",
+							strategies.at(index).toStdString().c_str());
+
+				}
+#endif
+
 				if(strategies.at(index).compare("Dense") == 0)
 				{
 					detector = new cv::DenseFeatureDetector(
@@ -532,7 +586,7 @@ KeypointDetector * Settings::createKeypointDetector()
 							getFeature2D_BRISK_patternScale());
 					UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
 				}
-#ifdef WITH_NONFREE
+#if FINDOBJECT_NONFREE == 1
 				else if(strategies.at(index).compare("SIFT") == 0)
 				{
 					detector = new cv::SIFT(
@@ -596,12 +650,22 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
 		if(ok)
 		{
 			QStringList strategies = split.last().split(';');
-#ifdef WITH_NONFREE
 			if(strategies.size() == 6 && index>=0 && index<6)
-#else
-			if(strategies.size() == 4 && index>=0 && index<4)
-#endif
 			{
+
+#if FINDOBJECT_NONFREE == 0
+				//check for nonfree stuff
+				if(strategies.at(index).compare("SIFT") == 0 ||
+				   strategies.at(index).compare("SURF") == 0)
+				{
+					index = Settings::defaultFeature2D_2Descriptor().split(':').first().toInt();
+					UERROR("Find-Object is not built with OpenCV nonfree module so "
+							"SIFT/SURF cannot be used! Using default \"%s\" instead.",
+							strategies.at(index).toStdString().c_str());
+
+				}
+#endif
+
 				if(strategies.at(index).compare("Brief") == 0)
 				{
 					extractor = new cv::BriefDescriptorExtractor(
@@ -656,7 +720,7 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
 							getFeature2D_FREAK_nOctaves());
 					UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
 				}
-#ifdef WITH_NONFREE
+#if FINDOBJECT_NONFREE == 1
 				else if(strategies.at(index).compare("SIFT") == 0)
 				{
 					extractor = new cv::SIFT(