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Fix compilation with OpenCV4 #29

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Fix compilation with OpenCV4 #29

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6cc302e
Initial compilation fix with OpenCV 4.9.0
ShadowOne333 Aug 29, 2024
0d8e414
SimpleShape and ImageSeq now compile with OpenCV4
ShadowOne333 Sep 11, 2024
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6 changes: 6 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,11 @@ ENDIF (WIN32)
IF (COMMAND CMAKE_POLICY)
CMAKE_POLICY (SET CMP0003 NEW)
CMAKE_POLICY (SET CMP0004 NEW)
#CMAKE_POLICY (SET CMP0148 NEW)
ENDIF (COMMAND CMAKE_POLICY)

# Fix an issue with a forbidden operand when using C++17
set (CMAKE_CXX_STANDARD 11)

# Set the project name (helps Visual Studio, mainly)
PROJECT (Player)
Expand Down Expand Up @@ -47,6 +50,9 @@ OPTION (PLAYER_BUILD_TESTS "Enables compilation of the test suites" ON)

# Look for various needed things
INCLUDE (${PLAYER_CMAKE_DIR}/internal/SearchForStuff.cmake)
# Find and use OpenCV directories
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
# Give the user some compile options
INCLUDE (${PLAYER_CMAKE_DIR}/internal/GeneralCompileOptions.cmake)
# Write the config.h file
Expand Down
10 changes: 5 additions & 5 deletions server/drivers/blobfinder/shapetracker/shapetracker.cc
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Expand Up @@ -50,8 +50,8 @@ the Player 2.0 API.
#include <libplayercore/playercore.h>
#include <base/imagebase.h>

#include <cv.h>
//#include <highgui.h>
#include <opencv2/opencv.hpp>
#include "opencv2/highgui/highgui_c.h"

#define winName "ShapeTracker"

Expand Down Expand Up @@ -100,7 +100,7 @@ class ShapeTracker : public ImageBase
private: CvHistogram *hist;
private: int histSize;
private: unsigned char lut[256];
private: CvMat *lutMat;
private: CvMat *lutMat;

private: double threshold;
private: int vertices;
Expand All @@ -109,8 +109,8 @@ class ShapeTracker : public ImageBase
private: unsigned int shapeCount;

// Kalmna filters used to track a shape
private: CvKalman *kalmanX;
private: CvKalman *kalmanY;
//private: CvKalman *kalmanX;
//private: CvKalman *kalmanY;
private: int kalmanFirst;

private: CvPoint orientPoint;
Expand Down
39 changes: 30 additions & 9 deletions server/drivers/blobfinder/simpleshape/simpleshape.cc
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Expand Up @@ -106,8 +106,25 @@ driver
#include <string.h>
#include "../../base/imagebase.h"

#include <cv.h>
#include <highgui.h>
#include <opencv2/opencv.hpp>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/highgui/highgui_c.h"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/imgcodecs/legacy/constants_c.h"

/* CvScalar re-definition */
inline CvScalar to_CvScalar(cv::Scalar s)
{
CvScalar ret;

ret.val[0] = s.val[0]; // blue
ret.val[1] = s.val[1]; // green
ret.val[2] = s.val[2]; // red
ret.val[3] = s.val[3]; // alpha

return ret;
}

// Invariant feature set for a contour
class FeatureSet
Expand Down Expand Up @@ -292,13 +309,17 @@ void SimpleShape::MainQuit()
int SimpleShape::LoadModel()
{
IplImage *img, *work;
cv::Mat img2 = cv::cvarrToMat(img);
CvSize size;
CvSeq *contour, *maxContour;
double area, maxArea;

// Load the image
img = cvLoadImage(this->modelFilename, 0);
if (img == NULL)
//img = cvLoadImage( this->modelFilename, 0);
img2 = cv::imread( this->modelFilename, cv::IMREAD_GRAYSCALE );

//if (img == NULL)
if ( img2.empty () )
{
PLAYER_ERROR("failed to load model file");
return -1;
Expand Down Expand Up @@ -475,8 +496,8 @@ void SimpleShape::FindShapes()

// Draw eligable contour on the output image; useful for debugging
if (this->debugcam)
cvDrawContours(this->outSubImages + 2, contour, CV_RGB(255, 255, 255),
CV_RGB(255, 255, 255), 0, 1, 8);
cvDrawContours(this->outSubImages + 2, contour, to_CvScalar(CV_RGB(255, 255, 255)),
to_CvScalar(CV_RGB(255, 255, 255)), 0, 1, 8);

// Compute the contour features
this->ExtractFeatureSet((CvContour*) contour, &featureSet);
Expand All @@ -489,10 +510,10 @@ void SimpleShape::FindShapes()
// Draw contour on the main image; useful for debugging
if (this->debugcam)
{
cvDrawContours(this->outSubImages + 3, contour, CV_RGB(128, 128, 128),
CV_RGB(128, 128, 128), 0, 1, 8);
cvDrawContours(this->outSubImages + 3, contour, to_CvScalar(CV_RGB(128, 128, 128)),
to_CvScalar(CV_RGB(128, 128, 128)), 0, 1, 8);
cvRectangle(this->outSubImages + 3, cvPoint(rect.x, rect.y),
cvPoint(rect.x + rect.width, rect.y + rect.height), CV_RGB(255, 255, 255), 1);
cvPoint(rect.x + rect.width, rect.y + rect.height), to_CvScalar(CV_RGB(255, 255, 255)), 1);
}

// Check for overrun
Expand Down
5 changes: 3 additions & 2 deletions server/drivers/blobfinder/upcbarcode/upcbarcode.cc
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Expand Up @@ -108,8 +108,9 @@ driver

#include "../../base/imagebase.h"

#include <cv.h>
#include <highgui.h>
#include <opencv2/opencv.hpp>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/highgui/highgui_c.h"

// Info on potential blobs.
struct blob_t
Expand Down
10 changes: 6 additions & 4 deletions server/drivers/camera/cvcam/cvcam.cc
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Expand Up @@ -26,8 +26,7 @@
///////////////////////////////////////////////////////////////////////////

/** @ingroup drivers */
/** @{ */
/** @defgroup driver_cvcam cvcam
/** @{ *//** @defgroup driver_cvcam cvcam
* @brief OpenCV camera capture

The cvcam driver captures images from cameras through OpenCV infrastructure.
Expand Down Expand Up @@ -87,8 +86,11 @@ driver
#include <pthread.h>
#include <libplayercore/playercore.h>

#include <cv.h>
#include <highgui.h>
#include <opencv2/opencv.hpp>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/highgui/highgui_c.h"
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/videoio/videoio_c.h"

//---------------------------------

Expand Down
21 changes: 13 additions & 8 deletions server/drivers/camera/imageseq/imageseq.cc
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Expand Up @@ -96,9 +96,10 @@ driver

#include <libplayercore/playercore.h>

#include <cv.h>
#include <highgui.h>

#include <opencv2/opencv.hpp>
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/imgcodecs/legacy/constants_c.h"

class ImageSeq : public ThreadedDriver
{
Expand Down Expand Up @@ -203,10 +204,14 @@ int ImageSeq::LoadImage(const char *filename)
char *src;
uint8_t *dst;
IplImage *image;
cv::Mat image2 = cv::cvarrToMat(image);

// Load image; currently forces the image to mono
image = cvLoadImage(filename, -1);
if(image == NULL)
//image = cvLoadImage(filename, -1);
image2 = cv::imread( filename, cv::IMREAD_UNCHANGED );

//if(image == NULL)
if( image2.empty() )
{
PLAYER_ERROR1("Could not load image file: %s", filename);
return -1;
Expand All @@ -224,7 +229,7 @@ int ImageSeq::LoadImage(const char *filename)
switch (image->depth)
{
case IPL_DEPTH_8U:
case IPL_DEPTH_8S:
case int IPL_DEPTH_8S:
if (image->nChannels == 1)
{
this->data.bpp = 8;
Expand All @@ -236,14 +241,14 @@ int ImageSeq::LoadImage(const char *filename)
this->data.format = PLAYER_CAMERA_FORMAT_RGB888;
}
break;
case IPL_DEPTH_16S:
case int IPL_DEPTH_16S:
if (image->nChannels == 1)
{
this->data.bpp = 16;
this->data.format = PLAYER_CAMERA_FORMAT_MONO16;
}
break;
case IPL_DEPTH_32S:
case int IPL_DEPTH_32S:
case IPL_DEPTH_32F:
case IPL_DEPTH_64F:
default:
Expand Down
5 changes: 3 additions & 2 deletions server/drivers/camera/videocanny/videocanny.cc
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Expand Up @@ -86,8 +86,9 @@ driver
#include <libplayercore/playercore.h>
#include <libplayerjpeg/playerjpeg.h>

#include <cv.h>
#include <highgui.h>
#include <opencv2/opencv.hpp>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/highgui/highgui_c.h"

typedef enum { canny = 0, sobel, laplace } func_t;

Expand Down