Update for OpenCV v4.0 compatibility (#306)

image_tools/src/burger.cpp

@@ -82,7 +82,7 @@ Burger::Burger()
   std::vector<uint8_t> burger_png;
   burger_png.resize(burger_size);
   decode_base64(BURGER, burger_png);
-  burger_template = cv::imdecode(burger_png, CV_LOAD_IMAGE_COLOR);
+  burger_template = cv::imdecode(burger_png, cv::ImreadModes::IMREAD_COLOR);
   cv::floodFill(burger_template, cv::Point(1, 1), CV_RGB(1, 1, 1));
   cv::compare(burger_template, 1, burger_mask, cv::CMP_NE);
 #ifndef _WIN32
@@ -124,7 +124,7 @@ cv::Mat & Burger::render_burger(size_t width, size_t height)
     }
     burger_buf = cv::Mat(height_i, width_i, CV_8UC3);
   }
-  burger_buf = cvScalar(0, 0, 0);
+  burger_buf = cv::Scalar(0, 0, 0);
   for (int b = 0; b < static_cast<int>(x.size()); b++) {
     burger_template.copyTo(burger_buf(cv::Rect(
         x[b],

image_tools/src/cam2image.cpp

@@ -156,8 +156,8 @@ int main(int argc, char * argv[])
     cap.open(0);
 
     // Set the width and height based on command line arguments.
-    cap.set(CV_CAP_PROP_FRAME_WIDTH, static_cast<double>(width));
-    cap.set(CV_CAP_PROP_FRAME_HEIGHT, static_cast<double>(height));
+    cap.set(cv::CAP_PROP_FRAME_WIDTH, static_cast<double>(width));
+    cap.set(cv::CAP_PROP_FRAME_HEIGHT, static_cast<double>(height));
     if (!cap.isOpened()) {
       RCLCPP_ERROR(node_logger, "Could not open video stream");
       return 1;
@@ -195,9 +195,9 @@ int main(int argc, char * argv[])
       if (show_camera) {
         // NOTE(esteve): Use C version of cvShowImage to avoid this on Windows:
         // http://stackoverflow.com/questions/20854682/opencv-multiple-unwanted-window-with-garbage-name
-        CvMat cvframe = frame;
+        cv::Mat cvframe = frame;
         // Show the image in a window called "cam2image".
-        cvShowImage("cam2image", &cvframe);
+        cv::imshow("cam2image", cvframe);
         // Draw the image to the screen and wait 1 millisecond.
         cv::waitKey(1);
       }

image_tools/src/showimage.cpp

@@ -71,12 +71,12 @@ void show_image(
       cv::cvtColor(frame, frame, cv::COLOR_RGB2BGR);
     }
 
-    CvMat cvframe = frame;
+    cv::Mat cvframe = frame;
 
     // NOTE(esteve): Use C version of cvShowImage to avoid this on Windows:
     // http://stackoverflow.com/q/20854682
     // Show the image in a window called "showimage".
-    cvShowImage("showimage", &cvframe);
+    cv::imshow("showimage", cvframe);
     // Draw the screen and wait for 1 millisecond.
     cv::waitKey(1);
   }
@@ -112,7 +112,7 @@ int main(int argc, char * argv[])
   if (show_camera) {
     std::cerr << "Creating window" << std::endl;
     // Initialize an OpenCV named window called "showimage".
-    cvNamedWindow("showimage", CV_WINDOW_AUTOSIZE);
+    cv::namedWindow("showimage", cv::WINDOW_AUTOSIZE);
     cv::waitKey(1);
     std::cerr << "After creating window" << std::endl;
   }