get opencv_apps to compile with OpenCV3

opencv_apps/CMakeLists.txt

@@ -3,6 +3,16 @@ project(opencv_apps)
 
 find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure message_generation image_transport nodelet roscpp)
 
+find_package(OpenCV REQUIRED)
+if (OpenCV_VERSION VERSION_EQUAL "3")
+  add_definitions("-DOPENCV3=1")
+  set(${PROJECT_NAME}_EXTRA_CFG)
+  set(${PROJECT_NAME}_EXTRA_FILES)
+else()
+  set(${PROJECT_NAME}_EXTRA_CFG cfg/SimpleFlow.cfg)
+  set(${PROJECT_NAME}_EXTRA_FILES src/nodelet/simple_flow_nodelet.cpp)
+endif()
+
 # generate the dynamic_reconfigure config file
 generate_dynamic_reconfigure_options(
   cfg/EdgeDetection.cfg cfg/HoughLines.cfg cfg/HoughCircles.cfg
@@ -16,8 +26,8 @@ generate_dynamic_reconfigure_options(
   cfg/PeopleDetect.cfg
   cfg/PhaseCorr.cfg
   cfg/SegmentObjects.cfg
-  cfg/SimpleFlow.cfg
   cfg/WatershedSegmentation.cfg
+  ${${PROJECT_NAME}_EXTRA_CFG}
   )
 
 ## Generate messages in the 'msg' folder
@@ -65,8 +75,6 @@ generate_messages(
 
 catkin_package()
 
-find_package(OpenCV REQUIRED)
-
 include_directories( ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
 
 ## Declare a cpp library
@@ -155,7 +163,7 @@ add_library(${PROJECT_NAME} SHARED
   # rgbdodometry.cpp
   src/nodelet/segment_objects_nodelet.cpp
   ## select3dobj.cpp
-  src/nodelet/simple_flow_nodelet.cpp
+  # src/nodelet/simple_flow_nodelet.cpp
   # squares.cpp
   # starter_imagelist.cpp
   # starter_video.cpp
@@ -169,6 +177,7 @@ add_library(${PROJECT_NAME} SHARED
   # video_homography.cpp
   # videostab.cpp
   src/nodelet/watershed_segmentation_nodelet.cpp
+  ${${PROJECT_NAME}_EXTRA_FILES}
 )
 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

opencv_apps/src/nodelet/camshift_nodelet.cpp

@@ -190,12 +190,20 @@ class CamShiftNodelet : public nodelet::Nodelet
 
         switch( event )
         {
+#if OPENCV3
+          case cv::EVENT_LBUTTONDOWN:
+#else
           case CV_EVENT_LBUTTONDOWN:
+#endif
             origin = cv::Point(x,y);
             selection = cv::Rect(x,y,0,0);
             selectObject = true;
             break;
+#if OPENCV3
+          case cv::EVENT_LBUTTONUP:
+#else
           case CV_EVENT_LBUTTONUP:
+#endif
             selectObject = false;
             if( selection.width > 0 && selection.height > 0 )
               trackObject = -1;
@@ -223,7 +231,11 @@ class CamShiftNodelet : public nodelet::Nodelet
           {
             cv::Mat roi(hue, selection), maskroi(mask, selection);
             cv::calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
+#if OPENCV3
+            cv::normalize(hist, hist, 0, 255, cv::NORM_MINMAX);
+#else
             cv::normalize(hist, hist, 0, 255, CV_MINMAX);
+#endif
             std::vector<float> hist_value;
             hist_value.resize(hsize);
             for(int i = 0; i < hsize; i ++) { hist_value[i] = hist.at<float>(i);}
@@ -237,7 +249,11 @@ class CamShiftNodelet : public nodelet::Nodelet
             cv::Mat buf(1, hsize, CV_8UC3);
             for( int i = 0; i < hsize; i++ )
               buf.at<cv::Vec3b>(i) = cv::Vec3b(cv::saturate_cast<uchar>(i*180./hsize), 255, 255);
+#if OPENCV3
+            cv::cvtColor(buf, buf, cv::COLOR_HSV2BGR);
+#else
             cv::cvtColor(buf, buf, CV_HSV2BGR);
+#endif
 
             for( int i = 0; i < hsize; i++ )
             {
@@ -251,7 +267,11 @@ class CamShiftNodelet : public nodelet::Nodelet
           cv::calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
           backproj &= mask;
           cv::RotatedRect trackBox = cv::CamShift(backproj, trackWindow,
+#if OPENCV3
+                                                  cv::TermCriteria( cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 10, 1 ));
+#else
                                                   cv::TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
+#endif
           if( trackWindow.area() <= 1 )
           {
             int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
@@ -264,7 +284,11 @@ class CamShiftNodelet : public nodelet::Nodelet
 
           if( backprojMode )
             cv::cvtColor( backproj, frame, cv::COLOR_GRAY2BGR );
+#if OPENCV3
+          cv::ellipse( frame, trackBox, cv::Scalar(0,0,255), 3, cv::LINE_AA );
+#else
           cv::ellipse( frame, trackBox, cv::Scalar(0,0,255), 3, CV_AA );
+#endif
 
           rect_msg.rect.angle = trackBox.angle;
           opencv_apps::Point2D point_msg;
@@ -431,7 +455,11 @@ class CamShiftNodelet : public nodelet::Nodelet
       cv::Mat buf(1, hsize, CV_8UC3);
       for( int i = 0; i < hsize; i++ )
         buf.at<cv::Vec3b>(i) = cv::Vec3b(cv::saturate_cast<uchar>(i*180./hsize), 255, 255);
+#if OPENCV3
+      cv::cvtColor(buf, buf, cv::COLOR_HSV2BGR);
+#else
       cv::cvtColor(buf, buf, CV_HSV2BGR);
+#endif
 
       for( int i = 0; i < hsize; i++ )
       {

opencv_apps/src/nodelet/contour_moments_nodelet.cpp

@@ -54,6 +54,10 @@
 #include "opencv_apps/MomentArray.h"
 #include "opencv_apps/MomentArrayStamped.h"
 
+#if OPENCV3
+#include <opencv2/imgproc/types_c.h>
+#endif
+
 namespace contour_moments {
 class ContourMomentsNodelet : public nodelet::Nodelet
 {

opencv_apps/src/nodelet/convex_hull_nodelet.cpp

@@ -54,6 +54,10 @@
 #include "opencv_apps/ContourArray.h"
 #include "opencv_apps/ContourArrayStamped.h"
 
+#if OPENCV3
+#include <opencv2/imgproc/types_c.h>
+#endif
+
 namespace convex_hull {
 class ConvexHullNodelet : public nodelet::Nodelet
 {

opencv_apps/src/nodelet/face_detection_nodelet.cpp

@@ -121,7 +121,11 @@ class FaceDetectionNodelet : public nodelet::Nodelet
       cv::cvtColor( frame, frame_gray, cv::COLOR_BGR2GRAY );
       cv::equalizeHist( frame_gray, frame_gray );
       //-- Detect faces
+#if OPENCV3
+      face_cascade_.detectMultiScale( frame_gray, faces, 1.1, 2, 0, cv::Size(30, 30) );
+#else
       face_cascade_.detectMultiScale( frame_gray, faces, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30) );
+#endif
 
       for( size_t i = 0; i < faces.size(); i++ )
       {
@@ -137,7 +141,11 @@ class FaceDetectionNodelet : public nodelet::Nodelet
         std::vector<cv::Rect> eyes;
 
         //-- In each face, detect eyes
+#if OPENCV3
+        eyes_cascade_.detectMultiScale( faceROI, eyes, 1.1, 2, 0, cv::Size(30, 30) );
+#else
         eyes_cascade_.detectMultiScale( faceROI, eyes, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30) );
+#endif
 
         for( size_t j = 0; j < eyes.size(); j++ )
         {

opencv_apps/src/nodelet/find_contours_nodelet.cpp

@@ -54,6 +54,10 @@
 #include "opencv_apps/ContourArray.h"
 #include "opencv_apps/ContourArrayStamped.h"
 
+#if OPENCV3
+#include <opencv2/imgproc/types_c.h>
+#endif
+
 namespace find_contours {
 class FindContoursNodelet : public nodelet::Nodelet
 {

opencv_apps/src/nodelet/general_contours_nodelet.cpp

@@ -54,6 +54,10 @@
 #include "opencv_apps/RotatedRectArray.h"
 #include "opencv_apps/RotatedRectArrayStamped.h"
 
+#if OPENCV3
+#include <opencv2/imgproc/types_c.h>
+#endif
+
 namespace general_contours {
 class GeneralContoursNodelet : public nodelet::Nodelet
 {
@@ -148,8 +152,8 @@ class GeneralContoursNodelet : public nodelet::Nodelet
       cv::findContours( threshold_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0) );
 
       /// Find the rotated rectangles and ellipses for each contour
-      cv::vector<cv::RotatedRect> minRect( contours.size() );
-      cv::vector<cv::RotatedRect> minEllipse( contours.size() );
+      std::vector<cv::RotatedRect> minRect( contours.size() );
+      std::vector<cv::RotatedRect> minEllipse( contours.size() );
 
       for( size_t i = 0; i < contours.size(); i++ )
       { minRect[i] = cv::minAreaRect( cv::Mat(contours[i]) );

opencv_apps/src/nodelet/hough_circles_nodelet.cpp

@@ -53,6 +53,10 @@
 #include "opencv_apps/CircleArray.h"
 #include "opencv_apps/CircleArrayStamped.h"
 
+#if OPENCV3
+#include <opencv2/imgproc/types_c.h>
+#endif
+
 namespace hough_circles {
 class HoughCirclesNodelet : public nodelet::Nodelet
 {
@@ -164,6 +168,7 @@ class HoughCirclesNodelet : public nodelet::Nodelet
       // runs the actual detection
       cv::HoughCircles( src_gray, circles, CV_HOUGH_GRADIENT, 1, src_gray.rows/8, canny_threshold_, accumulator_threshold_, 0, 0 );
 
+
       // clone the colour, input image for displaying purposes
       for( size_t i = 0; i < circles.size(); i++ )
       {

opencv_apps/src/nodelet/hough_lines_nodelet.cpp

@@ -146,7 +146,11 @@ class HoughLinesNodelet : public nodelet::Nodelet
       }
 
       /// Initialize
+#if OPENCV3
+      cv::cvtColor( edges, frame, cv::COLOR_GRAY2BGR );
+#else
       cv::cvtColor( edges, frame, CV_GRAY2BGR );
+#endif
 
       switch (config_.hough_type) {
         case hough_lines::HoughLines_Standard_Hough_Transform:
@@ -166,7 +170,11 @@ class HoughLinesNodelet : public nodelet::Nodelet
 
               cv::Point pt1( cvRound(x0 + alpha*(-sin_t)), cvRound(y0 + alpha*cos_t) );
               cv::Point pt2( cvRound(x0 - alpha*(-sin_t)), cvRound(y0 - alpha*cos_t) );
+#if OPENCV3
+              cv::line( frame, pt1, pt2, cv::Scalar(255,0,0), 3, cv::LINE_AA);
+#else
               cv::line( frame, pt1, pt2, cv::Scalar(255,0,0), 3, CV_AA);
+#endif
               opencv_apps::Line line_msg;
               line_msg.pt1.x = pt1.x;
               line_msg.pt1.y = pt1.y;
@@ -189,7 +197,11 @@ class HoughLinesNodelet : public nodelet::Nodelet
             for( size_t i = 0; i < p_lines.size(); i++ )
             {
               cv::Vec4i l = p_lines[i];
+#if OPENCV3
+              cv::line( frame, cv::Point(l[0], l[1]), cv::Point(l[2], l[3]), cv::Scalar(255,0,0), 3, cv::LINE_AA);
+#else
               cv::line( frame, cv::Point(l[0], l[1]), cv::Point(l[2], l[3]), cv::Scalar(255,0,0), 3, CV_AA);
+#endif
               opencv_apps::Line line_msg;
               line_msg.pt1.x = l[0];
               line_msg.pt1.y = l[1];

opencv_apps/src/nodelet/lk_flow_nodelet.cpp

@@ -147,7 +147,11 @@ class LKFlowNodelet : public nodelet::Nodelet
       }
 
       // Do the work
+#if OPENCV3
+      cv::TermCriteria termcrit(cv::TermCriteria::MAX_ITER + cv::TermCriteria::EPS, 20, 0.03);
+#else
       cv::TermCriteria termcrit(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03);
+#endif
       cv::Size subPixWinSize(10,10), winSize(31,31);
 
       cv::cvtColor(image, gray, cv::COLOR_BGR2GRAY);
@@ -207,7 +211,7 @@ class LKFlowNodelet : public nodelet::Nodelet
         {
           std::vector<cv::Point2f> tmp;
           tmp.push_back(point);
-          cv::cornerSubPix( gray, tmp, winSize, cvSize(-1,-1), termcrit);
+          cv::cornerSubPix( gray, tmp, winSize, cv::Size(-1,-1), termcrit);
           points[1].push_back(tmp[0]);
           addRemovePt = false;
         }

opencv_apps/src/nodelet/phase_corr_nodelet.cpp

@@ -145,8 +145,13 @@ class PhaseCorrNodelet : public nodelet::Nodelet
       {
         // draw a circle and line indicating the shift direction...
         cv::Point center(curr.cols >> 1, curr.rows >> 1);
+#if OPENCV3
+        cv::circle(frame, center, (int)radius, cv::Scalar(0, 255, 0), 3, cv::LINE_AA);
+        cv::line(frame, center, cv::Point(center.x + (int)shift.x, center.y + (int)shift.y), cv::Scalar(0, 255, 0), 3, cv::LINE_AA);
+#else
         cv::circle(frame, center, (int)radius, cv::Scalar(0, 255, 0), 3, CV_AA);
         cv::line(frame, center, cv::Point(center.x + (int)shift.x, center.y + (int)shift.y), cv::Scalar(0, 255, 0), 3, CV_AA);
+#endif
 
         //
         shift_msg.point.x = shift.x;

opencv_apps/src/nodelet/segment_objects_nodelet.cpp

@@ -54,6 +54,12 @@
 #include "opencv_apps/ContourArray.h"
 #include "opencv_apps/ContourArrayStamped.h"
 
+#if OPENCV3
+#include <opencv2/imgproc/types_c.h>
+#include <opencv2/imgproc/imgproc_c.h>
+#include <opencv2/video.hpp>
+#endif
+
 namespace segment_objects {
 class SegmentObjectsNodelet : public nodelet::Nodelet
 {
@@ -76,7 +82,11 @@ class SegmentObjectsNodelet : public nodelet::Nodelet
   std::string window_name_;
   static bool need_config_update_;
 
-  cv::BackgroundSubtractorMOG bgsubtractor;
+#if OPENCV3
+  cv::Ptr<cv::BackgroundSubtractorMOG2> bgsubtractor;
+#else
+  cv::BackgroundSubtractorMOG2 bgsubtractor;
+#endif
   bool update_bg_model = true;
 
   void reconfigureCallback(segment_objects::SegmentObjectsConfig &new_config, uint32_t level)
@@ -135,7 +145,11 @@ class SegmentObjectsNodelet : public nodelet::Nodelet
         }
       }
 
+#if OPENCV3
+      bgsubtractor->apply(frame, bgmask, update_bg_model ? -1 : 0);
+#else
       bgsubtractor(frame, bgmask, update_bg_model ? -1 : 0);
+#endif
       //refineSegments(tmp_frame, bgmask, out_frame);
       int niters = 3;
 
@@ -277,7 +291,11 @@ class SegmentObjectsNodelet : public nodelet::Nodelet
     prev_stamp_ = ros::Time(0, 0);
 
     window_name_ = "segmented";
+#if OPENCV3
+    bgsubtractor = cv::createBackgroundSubtractorMOG2();
+#else
     bgsubtractor.set("noiseSigma", 10);
+#endif
 
     image_transport::SubscriberStatusCallback img_connect_cb    = boost::bind(&SegmentObjectsNodelet::img_connectCb, this, _1);
     image_transport::SubscriberStatusCallback img_disconnect_cb = boost::bind(&SegmentObjectsNodelet::img_disconnectCb, this, _1);

opencv_apps/src/nodelet/watershed_segmentation_nodelet.cpp

@@ -48,6 +48,10 @@
 #include <dynamic_reconfigure/server.h>
 #include "opencv_apps/WatershedSegmentationConfig.h"
 
+#if OPENCV3
+#include <opencv2/imgproc/types_c.h>
+#endif
+
 namespace watershed_segmentation {
 class WatershedSegmentationNodelet : public nodelet::Nodelet
 {
@@ -157,11 +161,23 @@ class WatershedSegmentationNodelet : public nodelet::Nodelet
 
           if( x < 0 || x >= frame.cols || y < 0 || y >= frame.rows )
             return;
+#if OPENCV3
+          if( event == cv::EVENT_LBUTTONUP || !(flags & cv::EVENT_FLAG_LBUTTON) )
+#else
           if( event == CV_EVENT_LBUTTONUP || !(flags & CV_EVENT_FLAG_LBUTTON) )
+#endif
             prevPt = cv::Point(-1,-1);
+#if OPENCV3
+          else if( event == cv::EVENT_LBUTTONDOWN )
+#else
           else if( event == CV_EVENT_LBUTTONDOWN )
+#endif
             prevPt = cv::Point(x,y);
+#if OPENCV3
+          else if( event == cv::EVENT_MOUSEMOVE && (flags & cv::EVENT_FLAG_LBUTTON) )
+#else
           else if( event == CV_EVENT_MOUSEMOVE && (flags & CV_EVENT_FLAG_LBUTTON) )
+#endif
           {
             cv::Point pt(x, y);
             if( prevPt.x < 0 )