fix for opencv 3.3.1

[k-okada]

http://build.ros.org/job/Kbin_uX64__opencv_apps__ubuntu_xenial_amd64__binary/35/display/redirect

1. faces

/tmp/binarydeb/ros-kinetic-opencv-apps-1.12.0/src/nodelet/face_recognition_nodelet.cpp: In member function ‘void face_recognition::FaceRecognitionNodelet::configCallback(face_recognition::FaceRecognitionNodelet::Config&, uint32_t)’:
/tmp/binarydeb/ros-kinetic-opencv-apps-1.12.0/src/nodelet/face_recognition_nodelet.cpp:466:22: error: ‘createEigenFaceRecognizer’ is not a member of ‘face’
             model_ = face::createEigenFaceRecognizer(config.model_num_components,

2. lk_track

https://docs.opencv.org/3.3.1/d2/d0a/lkdemo_8cpp-example.html#a20
https://docs.opencv.org/3.3.1/dd/d1a/group__imgproc__feature.html#ga1d6bb77486c8f92d79c8793ad995d541
https://docs.opencv.org/3.3.0/dd/d1a/group__imgproc__feature.html#ga1d6bb77486c8f92d79c8793ad995d541

c.f. ros/rosdistro#16230 (comment)

[k-okada]

@furushchev please review, specially face recognizer code

[furushchev]

I added a comment.
The reason of build failure on kinetic env is just wrong path specification for haar cascade data?:

�[31m[ERROR] [1510151903.264184171]: --Error loading /opt/ros/kinetic/share/opencv3/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml�[0m

�[31m[ERROR] [1510151903.264840994]: --Error loading /opt/ros/kinetic/share/opencv3/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml�[0m

[furushchev]

@k-okada It seems the new API is available from 3.3.0, so && CV_SUBMINOR_VERSION >= 1 should just be removed. (I confirmed on docker where 3.3.0 is installed)

docker run --rm -it ubuntu:trusty /bin/bash
apt-get update
apt-get upgrade
apt-get -y -qq install cmake git libgtk2.0-dev ocl-icd-opencl-dev qt5-default wget unzip
wget https://github.com/Itseez/opencv/archive/3.3.0.zip -O /tmp/opencv-3.3.0.zip
cd /tmp/
unzip opencv-3.3.0.zip
cd opencv-3.3.0
git clone --depth 1 https://github.com/Itseez/opencv_contrib.git opencv_contrib -b 3.3.0
mkdir build && cd build
cmake .. -DWITH_OPENGL:BOOL=ON -DWITH_QT:BOOL=ON -DCMAKE_BUILD_TYPE=RelWithDebugInfo -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_TESTS:BOOL=OFF -DBUILD_PERF_TESTS:BOOL=OFF -DWITH_FFMPEG:BOOL=OFF -DBUILD_EXAMPLES:BOOL=ON -DINSTALL_C_EXAMPLES:BOOL=OFF -DINSTALL_PYTHON_EXAMPLES:BOOL=ON -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules
make -j
sudo make install -j
sudo ldconfig
echo 'export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH' >> ~/.bashrc
exec -l bash

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
apt-get update && apt-get install ros-indigo-ros-base python-rosdep python-catkin-tools
mkdir -p ~/ros/src && cd ~/ros/src
git clone https://github.com/k-okada/opencv_apps -b fix_for_opencv_3_3_1
cd ~/ros
source /opt/ros/indigo/setup.bash
sudo rosdep init && rosdep update && rosdep install --from-paths src -i -r -n -y
catkin init
catkin build