Merge pull request #2 from dorian3d/update/version

Code updated to OpenCV 3.1

CMakeLists.txt

@@ -1,17 +1,64 @@
 cmake_minimum_required(VERSION 2.8)
 project(DLoopDetector)
+include(ExternalProject)
 
 option(BUILD_DemoBRIEF  "Build demo application with BRIEF features" OFF)
 option(BUILD_DemoSURF   "Build demo application with SURF features"  OFF)
 
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release"
+    "MinSizeRel" "RelWithDebInfo")
+endif()
+
+if(MSVC)
+  if(CMAKE_CXX_FLAGS MATCHES "/W[0-4]")
+    string(REGEX REPLACE "/W[0-4]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+  else()
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
+  endif()
+elseif(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
+endif()
+
 set(HDRS
   include/DLoopDetector/DLoopDetector.h         include/DLoopDetector/TemplatedLoopDetector.h)
 
+set(DEPENDENCY_DIR ${CMAKE_CURRENT_BINARY_DIR}/dependencies)
+set(DEPENDENCY_INSTALL_DIR ${DEPENDENCY_DIR}/install)
+
 find_package(OpenCV REQUIRED)
-find_package(DLib REQUIRED)
-find_package(DBoW2 REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+macro(GetDependency name other_dependency)
+  find_package(${name} QUIET 
+    PATHS ${DEPENDENCY_INSTALL_DIR})
+  if(${${name}_FOUND})
+    message("${name} library found, using it from the system")
+    include_directories(${${name}_INCLUDE_DIRS})
+    add_custom_target(${name})
+  else(${${name}_FOUND})
+    message("${name} library not found in the system, it will be downloaded on build")
+    option(DOWNLOAD_${name}_dependency "Download ${name} dependency" ON)
+    if(${DOWNLOAD_${name}_dependency})
+      ExternalProject_Add(${name}
+        PREFIX ${DEPENDENCY_DIR}
+        GIT_REPOSITORY http://github.com/dorian3d/${name}
+        GIT_TAG v1.1-nonfree
+        INSTALL_DIR ${DEPENDENCY_INSTALL_DIR}
+        CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
+        DEPENDS ${other_dependency})
+    else()
+      message(SEND_ERROR "Please, activate DOWNLOAD_${name}_dependency option or download manually")
+    endif(${DOWNLOAD_${name}_dependency})
+  endif(${${name}_FOUND})
+endmacro(GetDependency)
+
+GetDependency(DLib "")
+GetDependency(DBoW2 DLib)
+add_custom_target(Dependencies ${CMAKE_COMMAND} ${CMAKE_SOURCE_DIR} DEPENDS DBoW2 DLib)
 
-include_directories(include/DLoopDetector/ ${OpenCV_INCLUDE_DIRS} ${DLib_INCLUDE_DIRS} ${DBoW2_INCLUDE_DIRS})
+include_directories(include/DLoopDetector/)
 
 if(BUILD_DemoBRIEF)
   add_executable(demo_brief demo/demo_brief.cpp)
@@ -24,18 +71,23 @@ if(BUILD_DemoSURF)
 endif(BUILD_DemoSURF)
 
 if(BUILD_DemoBRIEF OR BUILD_DemoSURF)
-  set(RESOURCE_FILE ${CMAKE_BINARY_DIR}/resources.tar.gz)
-  if(NOT EXISTS ${CMAKE_BINARY_DIR}/resources/)
-    if(NOT EXISTS ${RESOURCE_FILE})
-      file(DOWNLOAD http://doriangalvez.com/resources/DLoopDetector/resources.tar.gz 
-        ${RESOURCE_FILE} STATUS status SHOW_PROGRESS EXPECTED_MD5 c001da68ddaceed1de9c16aaac22ed80)
-      if(${status})
-        message(FATAL_ERROR "Error downloading resources for demo applications")
-      endif(${status})
-    endif(NOT EXISTS ${RESOURCE_FILE})
-    execute_process(COMMAND ${CMAKE_COMMAND} -E tar xzf ${RESOURCE_FILE})
-    file(REMOVE ${RESOURCE_FILE})
-  endif(NOT EXISTS ${CMAKE_BINARY_DIR}/resources/)
+  option(DOWNLOAD_Demo_Resources "Download resources for demo application" ON)
+  if(DOWNLOAD_Demo_Resources)
+    set(RESOURCES_DIR ${CMAKE_CURRENT_BINARY_DIR}/resources/)
+    if(NOT EXISTS ${RESOURCES_DIR})
+        ExternalProject_Add(Resources
+          PREFIX ${CMAKE_BINARY_DIR}
+          URL http://doriangalvez.com/resources/DLoopDetector/resources.tar.gz
+          URL_MD5 c001da68ddaceed1de9c16aaac22ed80
+          SOURCE_DIR ${RESOURCES_DIR}
+          CONFIGURE_COMMAND ""
+          BUILD_COMMAND ""
+          INSTALL_COMMAND "")
+        add_custom_target(DownloadResources ${CMAKE_COMMAND} ${CMAKE_SOURCE_DIR} DEPENDS Resources)
+    endif(NOT EXISTS ${RESOURCES_DIR})
+  else()
+    message("Demo resources are not going to be downloaded unless the option is activated. Demo applications will not work")
+  endif(DOWNLOAD_Demo_Resources)
 endif(BUILD_DemoBRIEF OR BUILD_DemoSURF)
 
 configure_file(src/DLoopDetector.cmake.in
@@ -46,3 +98,4 @@ install(FILES "${CMAKE_CURRENT_BINARY_DIR}/DLoopDetectorConfig.cmake"
   DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
 install(FILES "${PROJECT_BINARY_DIR}/DLoopDetectorConfig.cmake" 
   DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/cmake/DLoopDetector/)
+install(DIRECTORY ${DEPENDENCY_INSTALL_DIR}/ DESTINATION ${CMAKE_INSTALL_PREFIX} OPTIONAL)

README.md

@@ -28,6 +28,8 @@ If you use this software in an academic work, please cite:
 
 ## Install and usage notes
 
+DLoopDetector requires [DLib](https://github.com/dorian3d/DLib) and [DBoW2](https://github.com/dorian3d/DBoW2), which are installed automatically.
+
 DLoopDetector requires OpenCV and the `boost::dynamic_bitset` class in order to use the BRIEF version. You can install Boost by typing:
 
     $ sudo apt-get install libboost-dev

demo/demoDetector.h

@@ -14,8 +14,8 @@
 #include <string>
 
 // OpenCV
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
 
 // DLoopDetector and DBoW2
 #include <DBoW2/DBoW2.h>

demo/demo_brief.cpp

@@ -16,8 +16,8 @@
 #include <DVision/DVision.h> // Brief
 
 // OpenCV
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
 
 #include "demoDetector.h"
 

demo/demo_surf.cpp

@@ -16,11 +16,9 @@
 #include <DUtilsCV/DUtilsCV.h> // defines macros CVXX
 
 // OpenCV
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
-#if CV24
-#include <opencv2/nonfree/features2d.hpp>
-#endif
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/xfeatures2d/nonfree.hpp>
 
 // Demo
 #include "demoDetector.h"
@@ -81,16 +79,17 @@ void SurfExtractor::operator() (const cv::Mat &im,
   vector<cv::KeyPoint> &keys, vector<vector<float> > &descriptors) const
 {
   // extract surfs with opencv
-  static cv::SURF surf_detector(400);
+  static cv::Ptr<cv::xfeatures2d::SURF> surf_detector = 
+    cv::xfeatures2d::SURF::create(400);
 
-  surf_detector.extended = 0;
+  surf_detector->setExtended(false);
 
   keys.clear(); // opencv 2.4 does not clear the vector
   vector<float> plain;
-  surf_detector(im, cv::Mat(), keys, plain);
+  surf_detector->detectAndCompute(im, cv::Mat(), keys, plain);
 
   // change descriptor format
-  const int L = surf_detector.descriptorSize();
+  const int L = surf_detector->descriptorSize();
   descriptors.resize(plain.size() / L);
 
   unsigned int j = 0;