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Compatible opencv3 #16

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9fb3be1
Fixed build flag to enable c++11 support
alibenD Aug 14, 2018
3350a9a
Fixed something no compatible with OpenCV3.0+
alibenD Aug 14, 2018
02b2447
Merge branch 'master' into compatible_opencv3
alibenD Aug 28, 2018
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2 changes: 2 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -21,6 +21,8 @@ elseif(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
endif()

set (CMAKE_CXX_STANDARD 11)

if(BUILD_DUtils)
set(HDRS include/DUtils/
include/DUtils/BinaryFile.h include/DUtils/DUtils.h include/DUtils/FileModes.h include/DUtils/Math.hpp
Expand Down
45 changes: 23 additions & 22 deletions src/DUtilsCV/Drawing.cpp
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Expand Up @@ -9,9 +9,10 @@
*/

#include <vector>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv/cv.h>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/calib3d.hpp>
#include "Drawing.h"

using namespace std;
Expand All @@ -23,11 +24,11 @@ void Drawing::drawKeyPoints(cv::Mat &image,
const std::vector<cv::KeyPoint> &keypoints,
bool colorOctave, bool useCartesianAngle)
{
CvScalar colors[4] = {
cvScalar(0, 0, 255),
cvScalar(0, 255, 0),
cvScalar(255, 0, 0),
cvScalar(255, 255, 255)
cv::Scalar colors[4] = {
cv::Scalar(0, 0, 255),
cv::Scalar(0, 255, 0),
cv::Scalar(255, 0, 0),
cv::Scalar(255, 255, 255)
};

const double PI = 3.14159265;
Expand All @@ -39,7 +40,7 @@ void Drawing::drawKeyPoints(cv::Mat &image,
float s = it->size / 2.f;
//if(s < 3.f) s = 3.f;

const CvScalar *color;
const cv::Scalar *color;
if(!colorOctave || it->octave < 1 || it->octave > 3)
color = &colors[3];
else
Expand All @@ -48,7 +49,7 @@ void Drawing::drawKeyPoints(cv::Mat &image,
int r1 = (int)(it->pt.y + 0.5);
int c1 = (int)(it->pt.x + 0.5);

cv::circle(image, cvPoint(c1, r1), (int)s, *color, 1);
cv::circle(image, cv::Point(c1, r1), (int)s, *color, 1);

if(it->angle >= 0)
{
Expand All @@ -62,7 +63,7 @@ void Drawing::drawKeyPoints(cv::Mat &image,
else
r2 = (int)(s * sin(o) + it->pt.y + 0.5);

cv::line(image, cvPoint(c1, r1), cvPoint(c2, r2), *color);
cv::line(image, cv::Point(c1, r1), cv::Point(c2, r2), *color);
}
}
}
Expand Down Expand Up @@ -102,12 +103,12 @@ void Drawing::drawCorrespondences(cv::Mat &image, const cv::Mat &img1,

cv::Mat aux1, aux2;
if(img1.channels() > 1)
cv::cvtColor(img1, aux1, CV_RGB2GRAY);
cv::cvtColor(img1, aux1, cv::COLOR_RGB2GRAY);
else
aux1 = img1.clone();

if(img2.channels() > 1)
cv::cvtColor(img2, aux2, CV_RGB2GRAY);
cv::cvtColor(img2, aux2, cv::COLOR_RGB2GRAY);
else
aux2 = img2.clone();

Expand Down Expand Up @@ -151,12 +152,12 @@ void Drawing::drawCorrespondences(cv::Mat &image, const cv::Mat &img1,

py += img1.rows;

CvScalar color = cvScalar(
cv::Scalar color = cv::Scalar(
int(((double)rand()/((double)RAND_MAX + 1.0)) * 256.0),
int(((double)rand()/((double)RAND_MAX + 1.0)) * 256.0),
int(((double)rand()/((double)RAND_MAX + 1.0)) * 256.0));

cv::line(image, cvPoint(mx, my), cvPoint(px, py), color, 1);
cv::line(image, cv::Point(mx, my), cv::Point(px, py), color, 1);
}
}

Expand Down Expand Up @@ -206,19 +207,19 @@ void Drawing::drawReferenceSystem(cv::Mat &image, const cv::Mat &cRo,
cv::projectPoints(cv::Mat(oP), cRo, cto, A, k, points2d);

// draw axis
CvScalar bluez, greeny, redx;
cv::Scalar bluez, greeny, redx;

if(image.channels() == 3 )
{
bluez = cvScalar(255,0,0);
greeny = cvScalar(0,255,0);
redx = cvScalar(0,0,255);
bluez = cv::Scalar(255,0,0);
greeny = cv::Scalar(0,255,0);
redx = cv::Scalar(0,0,255);
}
else
{
bluez = cvScalar(18,18,18);
greeny = cvScalar(182,182,182);
redx = cvScalar(120,120,120);
bluez = cv::Scalar(18,18,18);
greeny = cv::Scalar(182,182,182);
redx = cv::Scalar(120,120,120);
}

cv::line(image, points2d[0], points2d[1], redx, 2);
Expand Down
37 changes: 20 additions & 17 deletions src/DUtilsCV/GUI.cpp
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Expand Up @@ -10,9 +10,12 @@

#include <vector>
#include <queue>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include <opencv/highgui.h>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>

#include <cstdio>
#include <string>
#include <sstream>
Expand All @@ -39,7 +42,7 @@ int GUI::showImage(const cv::Mat &image, bool autosize,
name = ssname.str();

int flags = 0;
if(autosize) flags |= CV_WINDOW_AUTOSIZE;
if(autosize) flags |= cv::WINDOW_AUTOSIZE;

cv::namedWindow( name.c_str(), flags );

Expand Down Expand Up @@ -81,7 +84,7 @@ int GUI::showImageInfo(const cv::Mat &image, bool autosize,
tWinHandler *hwnd = (_hwnd ? _hwnd : &haux);

if(image.type() == CV_8U)
cv::cvtColor(image, image_rgb, CV_GRAY2RGB);
cv::cvtColor(image, image_rgb, cv::COLOR_GRAY2RGB);
else
image_rgb = image;

Expand Down Expand Up @@ -237,7 +240,7 @@ void GUI::MouseHandler::attach(const tWinHandler &hwnd,
void GUI::MouseHandler::attachToClicks(const tWinHandler &hwnd)
{
m_valid_events.resize(1);
m_valid_events[0] = CV_EVENT_LBUTTONUP;
m_valid_events[0] = cv::EVENT_LBUTTONUP;
m_attached = true;
cv::setMouseCallback(hwnd, GUI::MouseHandler::callbackHandlerFunction, this);
}
Expand All @@ -247,7 +250,7 @@ void GUI::MouseHandler::attachToClicks(const tWinHandler &hwnd)
void GUI::MouseHandler::attachToMotions(const tWinHandler &hwnd)
{
m_valid_events.resize(1);
m_valid_events[0] = CV_EVENT_MOUSEMOVE;
m_valid_events[0] = cv::EVENT_MOUSEMOVE;
m_attached = true;
cv::setMouseCallback(hwnd, GUI::MouseHandler::callbackHandlerFunction, this);
}
Expand Down Expand Up @@ -275,16 +278,16 @@ void GUI::MouseHandler::listenToAll()
//@note RACE CONDITION!

m_valid_events.resize(10);
m_valid_events[0] = CV_EVENT_LBUTTONDOWN;
m_valid_events[1] = CV_EVENT_LBUTTONUP;
m_valid_events[2] = CV_EVENT_LBUTTONDBLCLK;
m_valid_events[3] = CV_EVENT_RBUTTONDOWN;
m_valid_events[4] = CV_EVENT_RBUTTONUP;
m_valid_events[5] = CV_EVENT_RBUTTONDBLCLK;
m_valid_events[6] = CV_EVENT_MBUTTONDOWN;
m_valid_events[7] = CV_EVENT_MBUTTONUP;
m_valid_events[8] = CV_EVENT_MBUTTONDBLCLK;
m_valid_events[9] = CV_EVENT_MOUSEMOVE;
m_valid_events[0] = cv::EVENT_LBUTTONDOWN;
m_valid_events[1] = cv::EVENT_LBUTTONUP;
m_valid_events[2] = cv::EVENT_LBUTTONDBLCLK;
m_valid_events[3] = cv::EVENT_RBUTTONDOWN;
m_valid_events[4] = cv::EVENT_RBUTTONUP;
m_valid_events[5] = cv::EVENT_RBUTTONDBLCLK;
m_valid_events[6] = cv::EVENT_MBUTTONDOWN;
m_valid_events[7] = cv::EVENT_MBUTTONUP;
m_valid_events[8] = cv::EVENT_MBUTTONDBLCLK;
m_valid_events[9] = cv::EVENT_MOUSEMOVE;

std::sort(m_valid_events.begin(), m_valid_events.end());
}
Expand Down
2 changes: 1 addition & 1 deletion src/DVision/BRIEF.cpp
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Expand Up @@ -52,7 +52,7 @@ void BRIEF::compute(const cv::Mat &image,
cv::Mat aux;
if(image.depth() == 3)
{
cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);
}
else
{
Expand Down
4 changes: 2 additions & 2 deletions src/DVision/FSolver.cpp
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Expand Up @@ -146,7 +146,7 @@ cv::Mat FSolver::findFundamentalMat(const cv::Mat &P1, const cv::Mat &P2,
cv::Mat sq_ab, norms;
cv::multiply(l1.rowRange(0,2), l1.rowRange(0,2), sq_ab);

cv::reduce(sq_ab, norms, 0, CV_REDUCE_SUM); // 0 = single row
cv::reduce(sq_ab, norms, 0, cv::REDUCE_SUM); // 0 = single row
cv::sqrt(norms, norms); // norms is Nx2

cv::Mat thresholds = norms * reprojection_error; // Nx1
Expand All @@ -157,7 +157,7 @@ cv::Mat FSolver::findFundamentalMat(const cv::Mat &P1, const cv::Mat &P2,
// d(x, l) = dot(x*, l*), * means normalized
cv::Mat prod, dot;
cv::multiply(l1, Q1, prod); // l1 against Q1 (homogeneous in image coords)
cv::reduce(prod, dot, 0, CV_REDUCE_SUM); // dot is Nx1
cv::reduce(prod, dot, 0, cv::REDUCE_SUM); // dot is Nx1

// error w/o sign
dot = abs(dot);
Expand Down
2 changes: 1 addition & 1 deletion src/DVision/HSolver.cpp
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Expand Up @@ -141,7 +141,7 @@ cv::Mat HSolver::findHomography(const cv::Mat &P1, const cv::Mat &P2,
cv::multiply(ab, ab, sq_ab);

cv::Mat error;
cv::reduce(sq_ab, error, 0, CV_REDUCE_SUM); // 0 = single row
cv::reduce(sq_ab, error, 0, cv::REDUCE_SUM); // 0 = single row
// squared error is positive

// get inliers
Expand Down