ros-perception · haraisao · Mar 25, 2021 · Mar 25, 2021
diff --git a/ar_track_alvar/CMakeLists.txt b/ar_track_alvar/CMakeLists.txt
@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ar_track_alvar)
 
+add_compile_options(-std=c++14)
+
 set(MSG_DEPS
     ar_track_alvar_msgs
     std_msgs

diff --git a/ar_track_alvar/include/ar_track_alvar/CvTestbed.h b/ar_track_alvar/include/ar_track_alvar/CvTestbed.h
@@ -4,8 +4,14 @@
 #include "Alvar.h"
 #include <vector>
 #include <string>
+#include <opencv2/core/version.hpp>
+#if CV_VERSION_MAJOR < 4
 #include "cv.h"
 #include "highgui.h"
+#else
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core_c.h>
+#endif
 #include "CaptureFactory.h"
 
 using namespace alvar;

diff --git a/ar_track_alvar/include/ar_track_alvar/FileFormatUtils.h b/ar_track_alvar/include/ar_track_alvar/FileFormatUtils.h
@@ -32,7 +32,15 @@
  */
 
 #include "Alvar.h"
+#include "opencv2/core/version.hpp"
+#if CV_VERSION_MAJOR < 4
 #include "cv.h"
+#else
+#include "opencv2/opencv.hpp"
+#include <opencv2/core/core_c.h>
+#include <opencv2/imgproc/imgproc_c.h>
+#include <opencv2/calib3d.hpp>
+#endif
 #include "tinyxml.h"
 
 namespace alvar {

diff --git a/ar_track_alvar/include/ar_track_alvar/Kalman.h b/ar_track_alvar/include/ar_track_alvar/Kalman.h
@@ -31,7 +31,15 @@
  */
 
 #include "Alvar.h"
+#include "opencv2/core/version.hpp"
+#if CV_VERSION_MAJOR < 4
 #include "cxcore.h"
+#include "cv.h"
+#include "highgui.h"
+#else
+#include "opencv2/opencv.hpp"
+#include "opencv2/core/core_c.h"
+#endif
 
 namespace alvar {
 

diff --git a/ar_track_alvar/include/ar_track_alvar/Marker.h b/ar_track_alvar/include/ar_track_alvar/Marker.h
@@ -42,8 +42,17 @@
 #include "filter/kinect_filtering.h"
 #include <Eigen/StdVector>
 
+#if CV_VERSION_MAJOR < 4
+#include "highgui.h"
+#else
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
+#endif
+
 namespace alvar {
 
+//#define CV_RGB_(r,g,b)	 cvScalar((b), (g), (r), 0)
+
   /**
    * \brief Basic 2D \e Marker functionality.
    *

diff --git a/ar_track_alvar/include/ar_track_alvar/MultiMarker.h b/ar_track_alvar/include/ar_track_alvar/MultiMarker.h
@@ -38,6 +38,9 @@
 #include "FileFormat.h"
 #include <tf/LinearMath/Vector3.h>
 #include <Eigen/StdVector>
+#if CV_VERSION_MAJOR < 4
+#include "highgui.h"
+#endif
 
 namespace alvar {
 

diff --git a/ar_track_alvar/include/ar_track_alvar/Optimization.h b/ar_track_alvar/include/ar_track_alvar/Optimization.h
@@ -25,7 +25,14 @@
 #define OPTIMIZATION_H
 
 #include "Alvar.h"
+#include <opencv2/core/version.hpp>
+#if CV_VERSION_MAJOR < 4
 #include <cxcore.h>
+#include "highgui.h"
+#else
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core_c.h>
+#endif
 //#include <float.h>
 
 

diff --git a/ar_track_alvar/include/ar_track_alvar/Util.h b/ar_track_alvar/include/ar_track_alvar/Util.h
@@ -37,12 +37,25 @@
 #include <iostream>
 #include <iomanip>
 #include <sstream>
+#include <opencv2/core/version.hpp>
+#if CV_VERSION_MAJOR < 4
 #include <cxcore.h>
 #include <cv.h>
+#else
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core_c.h>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/imgproc/imgproc_c.h>
+#endif
 #include <cmath> //for abs
 #include <map>
 #include <opencv2/calib3d/calib3d_c.h> //Compatibility with OpenCV 3.x
 
+#ifdef CV_RGB
+#undef CV_RGB
+#define CV_RGB(r,g,b)	 cvScalar((b), (g), (r), 0)
+#endif
+
 namespace alvar {
 
 const double PI = 3.14159265;

diff --git a/ar_track_alvar/nodes/FindMarkerBundles.cpp b/ar_track_alvar/nodes/FindMarkerBundles.cpp
@@ -629,7 +629,11 @@ void getPointCloudCallback (const sensor_msgs::PointCloud2ConstPtr &msg)
       // GetMultiMarkersPoses expects an IplImage*, but as of ros groovy, cv_bridge gives
       // us a cv::Mat. I'm too lazy to change to cv::Mat throughout right now, so I
       // do this conversion here -jbinney
+#if CV_VERSION_MAJOR < 4
       IplImage ipl_image = cv_ptr_->image;
+#else
+      IplImage ipl_image = cvIplImage(cv_ptr_->image);
+#endif
       GetMultiMarkerPoses(&ipl_image, cloud);
 
       for (size_t i=0; i<marker_detector.markers->size(); i++)

diff --git a/ar_track_alvar/nodes/FindMarkerBundlesNoKinect.cpp b/ar_track_alvar/nodes/FindMarkerBundlesNoKinect.cpp
@@ -218,7 +218,11 @@ void getCapCallback (const sensor_msgs::ImageConstPtr & image_msg)
       // GetMultiMarkersPoses expects an IplImage*, but as of ros groovy, cv_bridge gives
       // us a cv::Mat. I'm too lazy to change to cv::Mat throughout right now, so I
       // do this conversion here -jbinney
+#if CV_VERSION_MAJOR < 4
       IplImage ipl_image = cv_ptr_->image;
+#else
+      IplImage ipl_image = cvIplImage(cv_ptr_->image);
+#endif
       GetMultiMarkerPoses(&ipl_image);
 
       //Draw the observed markers that are visible and note which bundles have at least 1 marker seen

diff --git a/ar_track_alvar/nodes/IndividualMarkers.cpp b/ar_track_alvar/nodes/IndividualMarkers.cpp
@@ -345,7 +345,11 @@ void getPointCloudCallback (const sensor_msgs::PointCloud2ConstPtr &msg)
     // GetMultiMarkersPoses expects an IplImage*, but as of ros groovy, cv_bridge gives
     // us a cv::Mat. I'm too lazy to change to cv::Mat throughout right now, so I
     // do this conversion here -jbinney
+#if CV_VERSION_MAJOR < 4
     IplImage ipl_image = cv_ptr_->image;
+#else
+    IplImage ipl_image = cvIplImage(cv_ptr_->image);
+#endif
 
 
     //Use the kinect to improve the pose

diff --git a/ar_track_alvar/nodes/IndividualMarkersNoKinect.cpp b/ar_track_alvar/nodes/IndividualMarkersNoKinect.cpp
@@ -101,9 +101,13 @@ void getCapCallback (const sensor_msgs::ImageConstPtr & image_msg)
             // GetMultiMarkersPoses expects an IplImage*, but as of ros groovy, cv_bridge gives
             // us a cv::Mat. I'm too lazy to change to cv::Mat throughout right now, so I
             // do this conversion here -jbinney
+#if CV_VERSION_MAJOR < 4
             IplImage ipl_image = cv_ptr_->image;
-
+#else
+            IplImage ipl_image = cvIplImage(cv_ptr_->image);
+#endif
             marker_detector.Detect(&ipl_image, cam, true, false, max_new_marker_error, max_track_error, CVSEQ, true);
+
             arPoseMarkers_.markers.clear ();
 			for (size_t i=0; i<marker_detector.markers->size(); i++)
 			{

diff --git a/ar_track_alvar/nodes/TrainMarkerBundle.cpp b/ar_track_alvar/nodes/TrainMarkerBundle.cpp
@@ -277,7 +277,11 @@ void getCapCallback (const sensor_msgs::ImageConstPtr & image_msg)
             // GetMultiMarkersPoses expects an IplImage*, but as of ros groovy, cv_bridge gives
             // us a cv::Mat. I'm too lazy to change to cv::Mat throughout right now, so I
             // do this conversion here -jbinney
+#if CV_VERSION_MAJOR < 4
             IplImage ipl_image = cv_ptr_->image;
+#else
+            IplImage ipl_image = cvIplImage(cv_ptr_->image);
+#endif
 
             //Get the estimated pose of the main marker using the whole bundle
       		static Pose bundlePose;
@@ -422,10 +426,18 @@ int main(int argc, char *argv[])
     std::cout << "Please type commands with the openCV window selected" << std::endl;
 	std::cout << std::endl;
 
+#if CV_VERSION_MAJOR < 4
 	cvNamedWindow("Command input window", CV_WINDOW_AUTOSIZE); 
+#else
+	cv::namedWindow("Command input window", cv::WINDOW_AUTOSIZE); 
+#endif
 
 	while(1){
+#if CV_VERSION_MAJOR < 4
 		int key = cvWaitKey(20);
+#else
+		int key = cv::waitKey(20);
+#endif
 		if(key >= 0)
 			keyProcess(key);
 		ros::spinOnce();