Merge pull request #1555 from fspindle/fix_removed_sift_opencv_4.5.0

Fix sift not enabled with opencv 4.5.0
lagadic · Jan 23, 2025 · 40cf96b · 40cf96b
2 parents d77e4a3 + 26db0d9
commit 40cf96b
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Showing 4 changed files with 35 additions and 28 deletions.
diff --git a/ChangeLog.txt b/ChangeLog.txt
@@ -102,6 +102,7 @@ ViSP 3.x.x (Version in development)
     . [#1521] Build issues with OpenCV 5.0.0
     . [#1546] OIS 3rdparty not detected during CMake configuration
     . [#1547] Build issue with Ogre 1.12.0 or more recent versions
+    . [#1552] Unabled to use SIFT feature with opencv 4.5.4
 ----------------------------------------------
 ViSP 3.6.0 (released September 22, 2023)
   - Contributors:

diff --git a/modules/vision/include/visp3/vision/vpKeyPoint.h b/modules/vision/include/visp3/vision/vpKeyPoint.h
@@ -325,23 +325,25 @@ class VISP_EXPORT vpKeyPoint : public vpBasicKeyPoint
 #  endif
 #else // OpenCV < 5.0.0
 #  if defined(HAVE_OPENCV_FEATURES2D)
-#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
-    DETECTOR_AGAST,      //!< AGAST detector
-    DETECTOR_AKAZE,      //!< AKAZE detector
-#endif
     DETECTOR_BRISK,      //!< BRISK detector
     DETECTOR_FAST,       //!< FAST detector
     DETECTOR_GFTT,       //!< GFTT detector
-#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
-    DETECTOR_KAZE,       //!< KAZE detector
-#endif
     DETECTOR_MSER,       //!< MSER detector
     DETECTOR_ORB,        //!< ORB detector
     DETECTOR_SimpleBlob, //!< SimpleBlob detector
+#    if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
+    DETECTOR_AGAST,      //!< AGAST detector
+    DETECTOR_AKAZE,      //!< AKAZE detector
+    DETECTOR_KAZE,       //!< KAZE detector
+#    endif
 #  endif
-#  if defined(HAVE_OPENCV_XFEATURES2D)
+#  if (VISP_HAVE_OPENCV_VERSION >= 0x030100) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
     DETECTOR_MSD,        //!< MSD detector
+#  endif
+#  if ((VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)) && defined(HAVE_OPENCV_FEATURES2D)
     DETECTOR_SIFT,       //!< SIFT detector
+#  endif
+#if (VISP_HAVE_OPENCV_VERSION < 0x030000) || (defined(VISP_HAVE_OPENCV_XFEATURES2D))
     DETECTOR_STAR,       //!< STAR detector
 #  endif
 #  if defined(OPENCV_ENABLE_NONFREE) && defined(HAVE_OPENCV_XFEATURES2D)
@@ -376,26 +378,26 @@ class VISP_EXPORT vpKeyPoint : public vpBasicKeyPoint
 #  endif
 #else // opencv < 5.0.0
 #  if defined(HAVE_OPENCV_FEATURES2D)
-#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
-    DESCRIPTOR_AKAZE,     //!< AKAZE descriptor
-#endif
     DESCRIPTOR_BRISK,     //!< BRISK descriptor
-#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
-    DESCRIPTOR_KAZE,      //!< KAZE descriptor
-#endif
     DESCRIPTOR_ORB,       //!< ORB descriptor
+#    if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
+    DESCRIPTOR_AKAZE,     //!< AKAZE descriptor
+    DESCRIPTOR_KAZE,      //!< KAZE descriptor
+#    endif
 #  endif
 #  if defined(HAVE_OPENCV_XFEATURES2D)
     DESCRIPTOR_BRIEF,     //!< BRIEF descriptor
     DESCRIPTOR_DAISY,     //!< DAISY descriptor
     DESCRIPTOR_FREAK,     //!< FREAK descriptor
     DESCRIPTOR_LATCH,     //!< LATCH descriptor
+#  endif
+#  if ((VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)) && defined(HAVE_OPENCV_FEATURES2D)
     DESCRIPTOR_SIFT,      //!< SIFT descriptor
 #  endif
 #  if defined(OPENCV_ENABLE_NONFREE) && defined(HAVE_OPENCV_XFEATURES2D)
     DESCRIPTOR_SURF,      //!< SURF descriptor
 #  endif
-#  if defined(HAVE_OPENCV_XFEATURES2D) && (VISP_HAVE_OPENCV_VERSION >= 0x030200)
+#if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
     DESCRIPTOR_BoostDesc, //!< BoostDesc descriptor, only with OpenCV >= 3.2.0
     DESCRIPTOR_VGG,       //!< VGG descriptor, only with OpenCV >= 3.2.0
 #  endif

diff --git a/modules/vision/src/key-point/vpKeyPoint.cpp b/modules/vision/src/key-point/vpKeyPoint.cpp
@@ -1781,7 +1781,8 @@ void vpKeyPoint::initDetector(const std::string &detectorName)
   }
 
   if (detectorNameTmp == "SIFT") {
-#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_XFEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
+#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && ((VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)) && defined(HAVE_OPENCV_FEATURES2D)) \
+  || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
 #  if (VISP_HAVE_OPENCV_VERSION >= 0x040500) // OpenCV >= 4.5.0
     cv::Ptr<cv::FeatureDetector> siftDetector = cv::SiftFeatureDetector::create();
     if (!usePyramid) {
@@ -1976,7 +1977,8 @@ void vpKeyPoint::initDetector(const std::string &detectorName)
 #endif
   }
   else if (detectorNameTmp == "STAR") {
-#if defined(HAVE_OPENCV_XFEATURES2D)
+#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && (VISP_HAVE_OPENCV_VERSION < 0x030000) || (defined(VISP_HAVE_OPENCV_XFEATURES2D))) \
+   || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_XFEATURES2D))
     cv::Ptr<cv::FeatureDetector> starDetector = cv::xfeatures2d::StarDetector::create();
     if (!usePyramid) {
       m_detectors[detectorNameTmp] = starDetector;
@@ -2010,7 +2012,7 @@ void vpKeyPoint::initDetector(const std::string &detectorName)
 #endif
   }
   else if (detectorNameTmp == "MSD") {
-#if defined(HAVE_OPENCV_XFEATURES2D)
+#if (VISP_HAVE_OPENCV_VERSION >= 0x030100) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
     cv::Ptr<cv::FeatureDetector> msdDetector = cv::xfeatures2d::MSDDetector::create();
     if (!usePyramid) {
       m_detectors[detectorNameTmp] = msdDetector;
@@ -2061,7 +2063,7 @@ void vpKeyPoint::initExtractor(const std::string &extractorName)
   m_extractors[extractorName] = cv::DescriptorExtractor::create(extractorName);
 #else
   if (extractorName == "SIFT") {
-#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_XFEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
+#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && ((VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
     // SIFT is no more patented since 09/03/2020
 #  if (VISP_HAVE_OPENCV_VERSION >= 0x030411)
     m_extractors[extractorName] = cv::SIFT::create();
@@ -2246,31 +2248,33 @@ void vpKeyPoint::initFeatureNames()
   m_mapOfDetectorNames[DETECTOR_AGAST] = "AGAST";
 #endif
 #endif
-#if defined(HAVE_OPENCV_XFEATURES2D)
+#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && (VISP_HAVE_OPENCV_VERSION < 0x030000) || (defined(VISP_HAVE_OPENCV_XFEATURES2D))) \
+   || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_XFEATURES2D))
   m_mapOfDetectorNames[DETECTOR_STAR] = "STAR";
+#endif
+#if (VISP_HAVE_OPENCV_VERSION >= 0x030100) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
   m_mapOfDetectorNames[DETECTOR_MSD] = "MSD";
 #endif
-#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_XFEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
+#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && ((VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)) && defined(HAVE_OPENCV_FEATURES2D)) \
+  || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
   m_mapOfDetectorNames[DETECTOR_SIFT] = "SIFT";
 #endif
 #if defined(OPENCV_ENABLE_NONFREE) && defined(HAVE_OPENCV_XFEATURES2D)
   m_mapOfDetectorNames[DETECTOR_SURF] = "SURF";
 #endif
-#if defined(HAVE_OPENCV_XFEATURES2D)
-  m_mapOfDetectorNames[DETECTOR_MSD] = "MSD";
-#endif
 
 #if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
   m_mapOfDescriptorNames[DESCRIPTOR_ORB] = "ORB";
 #endif
 #if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_XFEATURES2D))
   m_mapOfDescriptorNames[DESCRIPTOR_BRISK] = "BRISK";
 #endif
-#if defined(HAVE_OPENCV_XFEATURES2D)
-  m_mapOfDescriptorNames[DESCRIPTOR_FREAK] = "FREAK";
+#if defined(VISP_HAVE_OPENCV_XFEATURES2D)
   m_mapOfDescriptorNames[DESCRIPTOR_BRIEF] = "BRIEF";
+  m_mapOfDescriptorNames[DESCRIPTOR_FREAK] = "FREAK";
 #endif
-#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_XFEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
+#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && ((VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)) && defined(HAVE_OPENCV_FEATURES2D)) \
+  || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
   m_mapOfDescriptorNames[DESCRIPTOR_SIFT] = "SIFT";
 #endif
 #if defined(OPENCV_ENABLE_NONFREE) && defined(HAVE_OPENCV_XFEATURES2D)

diff --git a/modules/vision/test/keypoint-with-dataset/testKeyPoint-5.cpp b/modules/vision/test/keypoint-with-dataset/testKeyPoint-5.cpp
@@ -268,7 +268,7 @@ void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_dis
 
   std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.getDetectorNames();
   for (int i = 0; i < vpKeyPoint::DETECTOR_TYPE_SIZE; i++) {
-#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_XFEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
+#if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && ((VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
 #if ((VISP_HAVE_OPENCV_VERSION == 0x040504) || (VISP_HAVE_OPENCV_VERSION == 0x040505) ||  \
      (VISP_HAVE_OPENCV_VERSION == 0x040600) || (VISP_HAVE_OPENCV_VERSION == 0x040700) || \
      (VISP_HAVE_OPENCV_VERSION == 0x040900) || (VISP_HAVE_OPENCV_VERSION == 0x040A00)) && \