Merge pull request #795 from s-trinh/fix_SIFT_no_more_patented

Fix build with OpenCV >= 3.4.11 and >= 4.4.0
lagadic · Aug 21, 2020 · dfa7e4b · dfa7e4b
2 parents d0345e3 + ad84fd8
commit dfa7e4b
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Showing 9 changed files with 53 additions and 14 deletions.
diff --git a/modules/vision/src/key-point/vpKeyPoint.cpp b/modules/vision/src/key-point/vpKeyPoint.cpp
@@ -2292,13 +2292,22 @@ void vpKeyPoint::initDetector(const std::string &detectorName)
   }
 
   if (detectorNameTmp == "SIFT") {
-#ifdef VISP_HAVE_OPENCV_XFEATURES2D
+#if defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
+    // SIFT is no more patented since 09/03/2020
     cv::Ptr<cv::FeatureDetector> siftDetector;
     if (m_maxFeatures > 0) {
+#if (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
+      siftDetector = cv::SIFT::create(m_maxFeatures);
+#else
       siftDetector = cv::xfeatures2d::SIFT::create(m_maxFeatures);
-    }
-    else {
+#endif
+    } else {
+#if (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
+      siftDetector = cv::SIFT::create();
+#else
       siftDetector = cv::xfeatures2d::SIFT::create();
+#endif
     }
     if (!usePyramid) {
       m_detectors[detectorNameTmp] = siftDetector;
@@ -2481,8 +2490,14 @@ void vpKeyPoint::initExtractor(const std::string &extractorName)
   m_extractors[extractorName] = cv::DescriptorExtractor::create(extractorName);
 #else
   if (extractorName == "SIFT") {
-#ifdef VISP_HAVE_OPENCV_XFEATURES2D
+#if defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
+    // SIFT is no more patented since 09/03/2020
+#if (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
+    m_extractors[extractorName] = cv::SIFT::create();
+#else
     m_extractors[extractorName] = cv::xfeatures2d::SIFT::create();
+#endif
 #else
     std::stringstream ss_msg;
     ss_msg << "Fail to initialize the extractor: SIFT. OpenCV version  " << std::hex << VISP_HAVE_OPENCV_VERSION
@@ -2646,8 +2661,11 @@ void vpKeyPoint::initFeatureNames()
 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) || (defined(VISP_HAVE_OPENCV_XFEATURES2D))
   m_mapOfDetectorNames[DETECTOR_STAR] = "STAR";
 #endif
-#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
+#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
   m_mapOfDetectorNames[DETECTOR_SIFT] = "SIFT";
+#endif
+#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
   m_mapOfDetectorNames[DETECTOR_SURF] = "SURF";
 #endif
 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
@@ -2667,8 +2685,11 @@ void vpKeyPoint::initFeatureNames()
   m_mapOfDescriptorNames[DESCRIPTOR_FREAK] = "FREAK";
   m_mapOfDescriptorNames[DESCRIPTOR_BRIEF] = "BRIEF";
 #endif
-#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
+#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
   m_mapOfDescriptorNames[DESCRIPTOR_SIFT] = "SIFT";
+#endif
+#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
   m_mapOfDescriptorNames[DESCRIPTOR_SURF] = "SURF";
 #endif
 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)

diff --git a/modules/vision/test/key-point/testKeyPoint-5.cpp b/modules/vision/test/key-point/testKeyPoint-5.cpp
@@ -208,9 +208,12 @@ void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_dis
   detectorNames.push_back("AKAZE");
 #endif
 
-#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
+#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
   detectorNames.push_back("PyramidSIFT");
   detectorNames.push_back("SIFT");
+#endif
+#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
   detectorNames.push_back("PyramidSURF");
   detectorNames.push_back("SURF");
 #endif

diff --git a/modules/vision/test/key-point/testKeyPoint-6.cpp b/modules/vision/test/key-point/testKeyPoint-6.cpp
@@ -214,8 +214,11 @@ void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_dis
   vpKeyPoint keyPoints;
 
   std::vector<std::string> descriptorNames;
-#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
+#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
   descriptorNames.push_back("SIFT");
+#endif
+#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
   descriptorNames.push_back("SURF");
 #endif
   descriptorNames.push_back("ORB");

diff --git a/modules/vision/test/key-point/testKeyPoint-7.cpp b/modules/vision/test/key-point/testKeyPoint-7.cpp
@@ -445,7 +445,8 @@ void run_test(const std::string &env_ipath, const std::string &opath,  vpImage<T
 
 // Test with floating point descriptor
 #if defined(VISP_HAVE_OPENCV_NONFREE) ||                                                                               \
-  ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(VISP_HAVE_OPENCV_XFEATURES2D))
+  ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
+   (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400))
   {
     std::string keypointName = "SIFT";
     keyPoints.setDetector(keypointName);

diff --git a/tutorial/detection/matching/tutorial-matching-keypoint-SIFT.cpp b/tutorial/detection/matching/tutorial-matching-keypoint-SIFT.cpp
@@ -10,7 +10,8 @@ int main()
 {
 //! [Define]
 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101) &&                                                                          \
-    (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D))
+    (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) ||                                     \
+     (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400))
   //! [Define]
   vpImage<unsigned char> I;
 
@@ -56,9 +57,15 @@ int main()
                            vpColor::white, 2);
     //! [Display]
 
+    vpChrono chrono;
+    chrono.start();
     //! [Matching]
     unsigned int nbMatch = keypoint.matchPoint(I);
     //! [Matching]
+    chrono.stop();
+    std::ostringstream oss;
+    oss << "Computation time: " << chrono.getDurationMs() << " ms";
+    vpDisplay::displayText(Idisp, vpImagePoint(20, 20), oss.str(), vpColor::red);
 
     std::cout << "Matches=" << nbMatch << std::endl;
 

diff --git a/tutorial/detection/object/tutorial-detection-object-mbt-deprecated.cpp b/tutorial/detection/object/tutorial-detection-object-mbt-deprecated.cpp
@@ -98,7 +98,8 @@ int main(int argc, char **argv)
 //! [MBT code]
 
 //! [Keypoint selection]
-#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D))
+#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
     std::string detectorName = "SIFT";
     std::string extractorName = "SIFT";
     std::string matcherName = "BruteForce";

diff --git a/tutorial/detection/object/tutorial-detection-object-mbt.cpp b/tutorial/detection/object/tutorial-detection-object-mbt.cpp
@@ -98,7 +98,8 @@ int main(int argc, char **argv)
 //! [MBT code]
 
 //! [Keypoint selection]
-#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D))
+#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
     std::string detectorName = "SIFT";
     std::string extractorName = "SIFT";
     std::string matcherName = "BruteForce";

diff --git a/tutorial/tracking/model-based/generic-rgbd/tutorial-mb-generic-tracker-rgbd-realsense.cpp b/tutorial/tracking/model-based/generic-rgbd/tutorial-mb-generic-tracker-rgbd-realsense.cpp
@@ -247,7 +247,8 @@ int main(int argc, char *argv[])
   tracker.setProjectionErrorComputation(true);
   tracker.setProjectionErrorDisplay(display_projection_error);
 
-#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D))
+#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
   std::string detectorName = "SIFT";
   std::string extractorName = "SIFT";
   std::string matcherName = "BruteForce";

diff --git a/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-live.cpp b/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-live.cpp
@@ -305,7 +305,8 @@ int main(int argc, char **argv)
     tracker.setProjectionErrorDisplay(opt_display_projection_error);
     //! [Set projection error computation]
 
-#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D))
+#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)) || \
+    (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
     std::string detectorName = "SIFT";
     std::string extractorName = "SIFT";
     std::string matcherName = "BruteForce";