Fixed build with OpenCV >= 3.4.11

Author: matlabbe

CMakeLists.txt

@@ -689,16 +689,6 @@ ELSEIF(OpenCV_VERSION VERSION_GREATER "3.4.2")
   ENDIF(${matchres} EQUAL -1)
 ENDIF()
 
-# check if version status is "-dev" (SIFT compatibility issue between 4.3.0 vs 4.3.0-dev)
-FIND_FILE(OpenCV_VERSION_HPP opencv2/core/version.hpp
-  PATHS ${OpenCV_INCLUDE_DIRS}
-  NO_DEFAULT_PATH)
-FILE(READ ${OpenCV_VERSION_HPP} TMPTXT)
-STRING(FIND "${TMPTXT}" "-dev" matchres)
-IF(${matchres} EQUAL -1)
-  SET(OPENCV_DEV "//")
-ENDIF(${matchres} EQUAL -1)
-
 IF(NOT G2O_FOUND)
    SET(G2O "//")
 ELSE()

Version.h.in

@@ -38,7 +38,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define RTABMAP_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@))
 
 @NONFREE@#define RTABMAP_NONFREE
-@OPENCV_DEV@#define RTABMAP_OPENCV_DEV
 @TORO@#define RTABMAP_TORO
 @G2O@#define RTABMAP_G2O
 @G2O_CPP_CONF@#define RTABMAP_G2O_CPP11

corelib/include/rtabmap/core/Features2d.h

@@ -62,7 +62,7 @@ namespace cv{
 namespace xfeatures2d {
 class FREAK;
 class BriefDescriptorExtractor;
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 class SIFT;
 #endif
 class SURF;
@@ -73,10 +73,10 @@ class ORB;
 class SURF_CUDA;
 }
 }
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 typedef cv::xfeatures2d::SIFT CV_SIFT;
 #else
-typedef cv::SIFT CV_SIFT; // SIFT is back in features2d since 4.3.0-dev
+typedef cv::SIFT CV_SIFT; // SIFT is back in features2d since 4.4.0 / 3.4.11
 #endif
 typedef cv::xfeatures2d::SURF CV_SURF;
 typedef cv::FastFeatureDetector CV_FAST;

corelib/src/Features2d.cpp

@@ -509,7 +509,7 @@ Feature2D * Feature2D::create(const ParametersMap & parameters)
 Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parameters)
 {
 
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 #ifndef RTABMAP_NONFREE
 	if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSift)
 	{
@@ -532,7 +532,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 #endif
 #endif
 
-#else // >= 4.3.0-dev
+#else // >= 4.4.0 >= 3.4.11
 
 #ifndef RTABMAP_NONFREE
 	if(type == Feature2D::kFeatureSurf)
@@ -542,7 +542,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 	}
 #endif
 
-#endif // 4.3.0-dev
+#endif // >= 4.4.0 >= 3.4.11
 
 #if CV_MAJOR_VERSION < 3
 	if(type == Feature2D::kFeatureKaze)
@@ -963,7 +963,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma_);
 	Parameters::parse(parameters, Parameters::kSIFTRootSIFT(), rootSIFT_);
 
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 #ifdef RTABMAP_NONFREE
 #if CV_MAJOR_VERSION < 3
 	_sift = cv::Ptr<CV_SIFT>(new CV_SIFT(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_));

guilib/src/PreferencesDialog.cpp

@@ -198,7 +198,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 #endif
 
 // SIFT
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 #ifndef RTABMAP_NONFREE
 	_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
 	_ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1);
@@ -2957,7 +2957,7 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath) const
 
 bool PreferencesDialog::validateForm()
 {
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(RTABMAP_OPENCV_DEV))))
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 #ifndef RTABMAP_NONFREE
 	// verify that SURF/SIFT cannot be selected if not built with OpenCV nonfree module
 	// BOW dictionary type
@@ -2978,7 +2978,7 @@ bool PreferencesDialog::validateForm()
 		_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureFastBrief);
 	}
 #endif
-#else //>= 4.3.0-dev
+#else //>= 4.4.0 >= 3.4.11
 #ifndef RTABMAP_NONFREE
 	// verify that SURF cannot be selected if not built with OpenCV nonfree module
 	// BOW dictionary type