1.address the 'SURF' problem in OpenCV3.x;2.address X11 conflicts of 'Status'

dpzou · dpzou · commit ba3ba9a30954 · 2018-04-06T11:08:03.000+08:00
diff --git a/README.md b/README.md
@@ -49,10 +49,11 @@ This is a computer vision library developed for CoSLAM. Please click [here](http
 #### 2. Nvidia Cg toolkit
 Please click [here](https://developer.nvidia.com/cg-toolkit-download) to download the nvidia Cg toolkit. Click the .deb file to install the package.
 
-#### 3. GLEW
+#### 3. GLEW, xmu
 Can be installed from the repository of Ubuntu or Linux Mint by typing 
 
     sudo apt-get install libglew-dev
+    sudo apt-get install libxmu-dev
     
 #### 4. OpenGL, GLU, and GLUT
 OpenGL is supported by default after the nvidia graphics card driver being installed. To install GLU,GLUT, run 
diff --git a/cmake/Modules/FindGLEW.cmake b/cmake/Modules/FindGLEW.cmake
@@ -38,7 +38,7 @@ ELSE (WIN32)
 		DOC "GLEW library detected!")
 ENDIF (WIN32)
 
-message(status, "libraries:" ${GLEW_LIBRARY})
+#message(status, "libraries:" ${GLEW_LIBRARY})
 
 IF (GLEW_INCLUDE_PATH AND GLEW_LIBRARY)
     SET( GLEW_FOUND TRUE CACHE STRING "GLEW library has been detected!")
diff --git a/src/app/SL_CoSLAM.cpp b/src/app/SL_CoSLAM.cpp
@@ -122,7 +122,7 @@ void CoSLAM::grabReadFrame() {
 
 	pthread_t threads[SLAM_MAX_NUM];
 	for (int i = 1; i < numCams; i++) {
-		pthread_create(&threads[i], 0, _parallelReadNextFrame, (void*) i);
+		pthread_create(&threads[i], 0, _parallelReadNextFrame, reinterpret_cast<void*>(i));
 	}
 	slam[0].grabReadFrame();
 	for (int i = 1; i < numCams; i++) {
diff --git a/src/app/SL_InitMap.cpp b/src/app/SL_InitMap.cpp
@@ -24,10 +24,13 @@
 #include "slam/SL_FeatureMatching.h"
 #include "SL_CoSLAMBA.h"
 #include "SL_GlobParam.h"
-
+#if CV_MAJOR_VERSION <= 2
 #if CV_MINOR_VERSION > 3
 #include <opencv2/nonfree/features2d.hpp>
 #endif
+#elif(CV_MAJOR_VERSION == 3)
+#include <opencv2/xfeatures2d.hpp>
+#endif
 
 //#define DEBUG_MODE
 InitMap::InitMap() :
@@ -41,16 +44,23 @@ void InitMap::detectSurfFeats(int iCam) {
 	const ImgG* img = m_pImgGray[iCam];
 	KpVec& keyPts = m_cvSurfPts[iCam];
 	std::vector<float> desc;
+    
+    cv::Mat cvImg(img->rows, img->cols, CV_8UC1, img->data);
+#if CV_MAJOR_VERSION <= 2
 #if CV_MINOR_VERSION > 3
 	cv::SurfFeatureDetector surf(400, 4, 2, false);
-	cv::Mat cvImg(img->rows, img->cols, CV_8UC1, img->data);
 	surf(cvImg, cv::Mat(), keyPts, desc);
 	int dimDesc = surf.descriptorSize();
 #else
 	cv::SURF surf(400, 4, 2, false);
-	cv::Mat cvImg(img->rows, img->cols, CV_8UC1, img->data);
 	surf(cvImg, cv::Mat(), keyPts, desc);
 	int dimDesc = surf.descriptorSize();
+#endif
+#elif CV_MAJOR_VERSION == 3
+    using namespace cv::xfeatures2d;
+    cv::Ptr<SURF> surf = SURF::create(400, 4, 2, false);
+    surf->detectAndCompute(cvImg,cv::Mat(), keyPts, desc);
+    int dimDesc = surf->descriptorSize();    
 #endif
 	m_surfDesc[iCam].resize(keyPts.size(), dimDesc);
 
diff --git a/src/gui/GLImagePane.h b/src/gui/GLImagePane.h
@@ -7,12 +7,12 @@
 
 #ifndef GLIMAGEPANE_H_
 #define GLIMAGEPANE_H_
+#include "app/SL_CoSLAM.h"
 
 #include <GL/glew.h> // should be included before "wx/glcanvas.h"
 #include "wx/wx.h"
 #include "wx/glcanvas.h"
 
-#include "app/SL_CoSLAM.h"
 class GLImagePane: public wxGLCanvas {
 	wxGLContext* m_context;
 	unsigned char* imgData;
diff --git a/src/gui/GLScenePane.h b/src/gui/GLScenePane.h
@@ -7,9 +7,9 @@
 
 #ifndef GLSCENEPANE_H_
 #define GLSCENEPANE_H_
+#include "app/SL_CoSLAM.h"
 #include "GL/glew.h"
 #include "GLTrackballPane.h"
-#include "app/SL_CoSLAM.h"
 
 using namespace std;
 class GLScenePane: public GLTrackballPane {
diff --git a/src/gui/MyApp.h b/src/gui/MyApp.h
@@ -7,6 +7,8 @@
 
 #ifndef MYAPP_H_
 #define MYAPP_H_
+#undef Status
+#include <opencv2/opencv.hpp>
 
 #include "app/SL_CoSLAM.h"
 #include "app/SL_GlobParam.h"

Original file line number	Diff line number	Diff line change
`@@ -122,7 +122,7 @@ void CoSLAM::grabReadFrame() {`
`122`	`122`
`123`	`123`	`pthread_t threads[SLAM_MAX_NUM];`
`124`	`124`	`for (int i = 1; i < numCams; i++) {`
`125`		`- pthread_create(&threads[i], 0, _parallelReadNextFrame, (void*) i);`
	`125`	`+ pthread_create(&threads[i], 0, _parallelReadNextFrame, reinterpret_cast<void*>(i));`
`126`	`126`	`}`
`127`	`127`	`slam[0].grabReadFrame();`
`128`	`128`	`for (int i = 1; i < numCams; i++) {`