path: root/opencv4.patch

From f693399b1d7cb28b34c767c8aa78c4ec6c1a7ce3 Mon Sep 17 00:00:00 2001
From: Christoph Haag <christoph.haag@collabora.com>
Date: Fri, 24 Jul 2020 04:12:01 +0200
Subject: [PATCH] update to OpenCV 4.0, remove support for OpenCV < 4

---
 CMakeLists.txt                                | 11 +++-----
 .../ImageSources/CVImageSource.cpp            |  4 +--
 .../ImageSources/DK2ImageSource.cpp           |  2 +-
 .../ImageSources/FakeImageSource.cpp          |  2 +-
 .../ImageSources/ImageSource.cpp              |  2 +-
 .../PoseEstimator_RANSAC.cpp                  | 12 +--------
 .../BeaconBasedPoseEstimator.cpp              | 11 --------
 plugins/videobasedtracker/CVImageSource.cpp   |  4 +--
 plugins/videobasedtracker/DK2ImageSource.cpp  |  2 +-
 plugins/videobasedtracker/FakeImageSource.cpp |  2 +-
 plugins/videobasedtracker/ImageSource.cpp     |  2 +-
 plugins/videobasedtracker/TestStandalone.cpp  | 10 +++----
 plugins/videotrackershared/BlobExtractor.cpp  |  6 ++---
 .../videotrackershared/SBDBlobExtractor.cpp   | 26 +++++--------------
 14 files changed, 29 insertions(+), 67 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e04619039..594151323 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -206,10 +206,7 @@ if(BUILD_WITH_OPENCV)
     if(NOT OpenCV_FOUND)
         message(FATAL_ERROR "BUILD_WITH_OPENCV is enabled, but OpenCV was not found! Either help CMake find OpenCV or disable BUILD_WITH_OPENCV.")
     endif()
-    if(OpenCV_VERSION VERSION_LESS 2.4)
-        # At least one 2.3 version (used in Precise) is missing a header that
-        # breaks their Eigen compatibility header. This seemed like the easiest
-        # fix.
+    if(OpenCV_VERSION VERSION_LESS 4.0)
         set(BUILD_OPENCV_CAMERA_PLUGIN OFF)
     endif()
     if(WIN32)
@@ -219,10 +216,10 @@ if(BUILD_WITH_OPENCV)
         include(OpenCVAndroid)
     endif()
     # Include dir specifically required by 3.0 and up, but missing from config.
-    if(NOT OpenCV_VERSION VERSION_LESS 3.0.0)
+    if(NOT OpenCV_VERSION VERSION_LESS 4.0.0)
         list(REMOVE_DUPLICATES OpenCV_INCLUDE_DIRS)
-        set_target_properties(opencv_core PROPERTIES
-            INTERFACE_INCLUDE_DIRECTORIES "${OpenCV_INCLUDE_DIRS}")
+        # add OpenCV includes globally so they work for inc/Util/OpenCVVersion.h
+        include_directories("${OpenCV_INCLUDE_DIRS}")
     endif()
 endif()
 
diff --git a/plugins/unifiedvideoinertialtracker/ImageSources/CVImageSource.cpp b/plugins/unifiedvideoinertialtracker/ImageSources/CVImageSource.cpp
index 49e36f857..1070d18ea 100644
--- a/plugins/unifiedvideoinertialtracker/ImageSources/CVImageSource.cpp
+++ b/plugins/unifiedvideoinertialtracker/ImageSources/CVImageSource.cpp
@@ -86,8 +86,8 @@ namespace vbtracker {
     cv::Size OpenCVImageSource::resolution() const { return m_res; }
 
     void OpenCVImageSource::storeRes() {
-        int height = static_cast<int>(m_camera->get(CV_CAP_PROP_FRAME_HEIGHT));
-        int width = static_cast<int>(m_camera->get(CV_CAP_PROP_FRAME_WIDTH));
+        int height = static_cast<int>(m_camera->get(cv::CAP_PROP_FRAME_HEIGHT));
+        int width = static_cast<int>(m_camera->get(cv::CAP_PROP_FRAME_WIDTH));
         m_res = cv::Size(width, height);
     }
 } // namespace vbtracker
diff --git a/plugins/unifiedvideoinertialtracker/ImageSources/DK2ImageSource.cpp b/plugins/unifiedvideoinertialtracker/ImageSources/DK2ImageSource.cpp
index 1b395898f..f52cb3800 100644
--- a/plugins/unifiedvideoinertialtracker/ImageSources/DK2ImageSource.cpp
+++ b/plugins/unifiedvideoinertialtracker/ImageSources/DK2ImageSource.cpp
@@ -82,7 +82,7 @@ namespace vbtracker {
         m_camera->retrieveColor(m_scratch, timestamp);
 
         gray = osvr::oculus_dk2::unscramble_image(m_scratch);
-        cv::cvtColor(gray, color, CV_GRAY2RGB);
+        cv::cvtColor(gray, color, cv::COLOR_GRAY2RGB);
     }
 
     void DK2WrappedImageSource::retrieveColor(
diff --git a/plugins/unifiedvideoinertialtracker/ImageSources/FakeImageSource.cpp b/plugins/unifiedvideoinertialtracker/ImageSources/FakeImageSource.cpp
index 19066ad0a..df5542477 100644
--- a/plugins/unifiedvideoinertialtracker/ImageSources/FakeImageSource.cpp
+++ b/plugins/unifiedvideoinertialtracker/ImageSources/FakeImageSource.cpp
@@ -76,7 +76,7 @@ namespace vbtracker {
             cv::Mat image;
             std::cout << "Trying to read image from " << fileName.str()
                       << std::endl;
-            image = cv::imread(fileName.str(), CV_LOAD_IMAGE_COLOR);
+            image = cv::imread(fileName.str(), cv::IMREAD_COLOR);
             if (!image.data) {
                 break;
             }
diff --git a/plugins/unifiedvideoinertialtracker/ImageSources/ImageSource.cpp b/plugins/unifiedvideoinertialtracker/ImageSources/ImageSource.cpp
index 6c6559d82..b41b94b16 100644
--- a/plugins/unifiedvideoinertialtracker/ImageSources/ImageSource.cpp
+++ b/plugins/unifiedvideoinertialtracker/ImageSources/ImageSource.cpp
@@ -37,7 +37,7 @@ namespace vbtracker {
     void ImageSource::retrieve(cv::Mat &color, cv::Mat &gray,
                                osvr::util::time::TimeValue &timestamp) {
         retrieveColor(color, timestamp);
-        cv::cvtColor(color, gray, CV_RGB2GRAY);
+        cv::cvtColor(color, gray, cv::COLOR_RGB2GRAY);
     }
 } // namespace vbtracker
 } // namespace osvr
diff --git a/plugins/unifiedvideoinertialtracker/PoseEstimator_RANSAC.cpp b/plugins/unifiedvideoinertialtracker/PoseEstimator_RANSAC.cpp
index de5388455..7786731c5 100644
--- a/plugins/unifiedvideoinertialtracker/PoseEstimator_RANSAC.cpp
+++ b/plugins/unifiedvideoinertialtracker/PoseEstimator_RANSAC.cpp
@@ -113,14 +113,7 @@ namespace vbtracker {
 
         cv::Mat rvec;
         cv::Mat tvec;
-#if CV_MAJOR_VERSION == 2
-        cv::solvePnPRansac(
-            objectPoints, imagePoints, camParams.cameraMatrix,
-            camParams.distortionParameters, rvec, tvec, usePreviousGuess,
-            iterations, MAX_REPROJECTION_ERROR,
-            static_cast<int>(objectPoints.size() - m_permittedOutliers),
-            inlierIndices);
-#elif CV_MAJOR_VERSION == 3
+
         // parameter added to the OpenCV 3.0 interface in place of the number of
         // inliers
         /// @todo how to determine this requested confidence from the data we're
@@ -133,9 +126,6 @@ namespace vbtracker {
         if (!ransacResult) {
             return false;
         }
-#else
-#error "Unrecognized OpenCV version!"
-#endif
 
         //==========================================================================
         // Make sure we got all the inliers we needed.  Otherwise, reject this
diff --git a/plugins/videobasedtracker/BeaconBasedPoseEstimator.cpp b/plugins/videobasedtracker/BeaconBasedPoseEstimator.cpp
index 2eca2d677..a27ef603e 100644
--- a/plugins/videobasedtracker/BeaconBasedPoseEstimator.cpp
+++ b/plugins/videobasedtracker/BeaconBasedPoseEstimator.cpp
@@ -295,14 +295,6 @@ namespace vbtracker {
         int iterationsCount = 5;
         cv::Mat inlierIndices;
 
-#if CV_MAJOR_VERSION == 2
-        cv::solvePnPRansac(
-            objectPoints, imagePoints, m_camParams.cameraMatrix,
-            m_camParams.distortionParameters, m_rvec, m_tvec, usePreviousGuess,
-            iterationsCount, MaxReprojectionErrorForInlier,
-            static_cast<int>(objectPoints.size() - m_permittedOutliers),
-            inlierIndices);
-#elif CV_MAJOR_VERSION == 3
         // parameter added to the OpenCV 3.0 interface in place of the number of
         // inliers
         /// @todo how to determine this requested confidence from the data we're
@@ -315,9 +307,6 @@ namespace vbtracker {
         if (!ransacResult) {
             return false;
         }
-#else
-#error "Unrecognized OpenCV version!"
-#endif
 
         //==========================================================================
         // Make sure we got all the inliers we needed.  Otherwise, reject this
diff --git a/plugins/videobasedtracker/CVImageSource.cpp b/plugins/videobasedtracker/CVImageSource.cpp
index 1b6c10299..0887bd225 100644
--- a/plugins/videobasedtracker/CVImageSource.cpp
+++ b/plugins/videobasedtracker/CVImageSource.cpp
@@ -75,8 +75,8 @@ namespace vbtracker {
     cv::Size OpenCVImageSource::resolution() const { return m_res; }
 
     void OpenCVImageSource::storeRes() {
-        int height = static_cast<int>(m_camera->get(CV_CAP_PROP_FRAME_HEIGHT));
-        int width = static_cast<int>(m_camera->get(CV_CAP_PROP_FRAME_WIDTH));
+        int height = static_cast<int>(m_camera->get(cv::CAP_PROP_FRAME_HEIGHT));
+        int width = static_cast<int>(m_camera->get(cv::CAP_PROP_FRAME_WIDTH));
         m_res = cv::Size(width, height);
     }
 } // namespace vbtracker
diff --git a/plugins/videobasedtracker/DK2ImageSource.cpp b/plugins/videobasedtracker/DK2ImageSource.cpp
index 0ff41078b..ef0dca6bd 100644
--- a/plugins/videobasedtracker/DK2ImageSource.cpp
+++ b/plugins/videobasedtracker/DK2ImageSource.cpp
@@ -78,7 +78,7 @@ namespace vbtracker {
         m_camera->retrieveColor(m_scratch);
 
         gray = osvr::oculus_dk2::unscramble_image(m_scratch);
-        cv::cvtColor(gray, color, CV_GRAY2RGB);
+        cv::cvtColor(gray, color, cv::COLOR_GRAY2RGB);
     }
 
     void DK2WrappedImageSource::retrieveColor(cv::Mat &color) {
diff --git a/plugins/videobasedtracker/FakeImageSource.cpp b/plugins/videobasedtracker/FakeImageSource.cpp
index 08866bee6..7aeba6a87 100644
--- a/plugins/videobasedtracker/FakeImageSource.cpp
+++ b/plugins/videobasedtracker/FakeImageSource.cpp
@@ -73,7 +73,7 @@ namespace vbtracker {
             cv::Mat image;
             std::cout << "Trying to read image from " << fileName.str()
                       << std::endl;
-            image = cv::imread(fileName.str(), CV_LOAD_IMAGE_COLOR);
+            image = cv::imread(fileName.str(), cv::IMREAD_COLOR);
             if (!image.data) {
                 break;
             }
diff --git a/plugins/videobasedtracker/ImageSource.cpp b/plugins/videobasedtracker/ImageSource.cpp
index f4a772239..ba50ff9eb 100644
--- a/plugins/videobasedtracker/ImageSource.cpp
+++ b/plugins/videobasedtracker/ImageSource.cpp
@@ -36,7 +36,7 @@ namespace vbtracker {
     ImageSource::~ImageSource() {}
     void ImageSource::retrieve(cv::Mat &color, cv::Mat &gray) {
         retrieveColor(color);
-        cv::cvtColor(color, gray, CV_RGB2GRAY);
+        cv::cvtColor(color, gray, cv::COLOR_RGB2GRAY);
     }
 } // namespace vbtracker
 } // namespace osvr
diff --git a/plugins/videobasedtracker/TestStandalone.cpp b/plugins/videobasedtracker/TestStandalone.cpp
index 91c63a7ee..fa3640032 100644
--- a/plugins/videobasedtracker/TestStandalone.cpp
+++ b/plugins/videobasedtracker/TestStandalone.cpp
@@ -48,8 +48,8 @@ class Main {
             return;
         }
 
-        height = static_cast<int>(m_camera.get(CV_CAP_PROP_FRAME_HEIGHT));
-        width = static_cast<int>(m_camera.get(CV_CAP_PROP_FRAME_WIDTH));
+        height = static_cast<int>(m_camera.get(cv::CAP_PROP_FRAME_HEIGHT));
+        width = static_cast<int>(m_camera.get(cv::CAP_PROP_FRAME_WIDTH));
 
         // See if this is an Oculus camera by checking the dimensions of
         // the image.  This camera type improperly describes its format
@@ -62,8 +62,8 @@ class Main {
         }
 
         std::cout << "Got image of size " << width << "x" << height
-                  << ", Format " << m_camera.get(CV_CAP_PROP_FORMAT)
-                  << ", Mode " << m_camera.get(CV_CAP_PROP_MODE) << std::endl;
+                  << ", Format " << m_camera.get(cv::CAP_PROP_FORMAT)
+                  << ", Mode " << m_camera.get(cv::CAP_PROP_MODE) << std::endl;
 
         /// @todo Come up with actual estimates for camera and distortion
         /// parameters by calibrating them in OpenCV.
@@ -102,7 +102,7 @@ class Main {
         //==================================================================
         // Convert the image into a format we can use.
         // TODO: Consider reading in the image in gray scale to begin with
-        cv::cvtColor(m_frame, m_imageGray, CV_RGB2GRAY);
+        cv::cvtColor(m_frame, m_imageGray, cv::COLOR_RGB2GRAY);
 
         return m_vbtracker.processImage(
             m_frame, m_imageGray, tv,
diff --git a/plugins/videotrackershared/BlobExtractor.cpp b/plugins/videotrackershared/BlobExtractor.cpp
index c84f3ca5c..723133dce 100644
--- a/plugins/videotrackershared/BlobExtractor.cpp
+++ b/plugins/videotrackershared/BlobExtractor.cpp
@@ -125,8 +125,8 @@ namespace vbtracker {
         cv::threshold(grayImage_, binarized, thresh, 255, cv::THRESH_BINARY);
         std::vector<ContourType> contours;
         std::vector<cv::Vec4i> hierarchy;
-        cv::findContours(binarized, contours, hierarchy, CV_RETR_CCOMP,
-                         CV_CHAIN_APPROX_NONE);
+        cv::findContours(binarized, contours, hierarchy, cv::RETR_CCOMP,
+                         cv::CHAIN_APPROX_NONE);
         auto n = contours.size();
         std::vector<ContourType> ret;
         for (std::size_t i = 0; i < n; ++i) {
@@ -153,7 +153,7 @@ namespace vbtracker {
         cv::Rect filledBounds;
         auto m_area = cv::floodFill(
             grayClone, floodFillMask_, peakCenter, 255, &filledBounds, loDiff,
-            upDiff, CV_FLOODFILL_MASK_ONLY | (/* connectivity 4 or 8 */ 4) |
+            upDiff, cv::FLOODFILL_MASK_ONLY | (/* connectivity 4 or 8 */ 4) |
                         (/* value to write in to mask */ 255 << 8));
         // Now floodFillMask_ contains the mask with both our point
         // and all other points so far. We need to split them by ANDing with
diff --git a/plugins/videotrackershared/SBDBlobExtractor.cpp b/plugins/videotrackershared/SBDBlobExtractor.cpp
index 0bcb31378..153fd5333 100644
--- a/plugins/videotrackershared/SBDBlobExtractor.cpp
+++ b/plugins/videotrackershared/SBDBlobExtractor.cpp
@@ -298,14 +298,7 @@ namespace vbtracker {
 /// @todo: Determine the maximum size of a trackable blob by seeing
 /// when we're so close that we can't view at least four in the
 /// camera.
-#if CV_MAJOR_VERSION == 2
-            cv::Ptr<cv::SimpleBlobDetector> detector =
-                new cv::SimpleBlobDetector(m_sbdParams);
-#elif CV_MAJOR_VERSION == 3
             auto detector = cv::SimpleBlobDetector::create(m_sbdParams);
-#else
-#error "Unrecognized OpenCV version!"
-#endif
             detector->detect(grayImage, m_keyPoints);
 
             // @todo: Consider computing the center of mass of a dilated
@@ -334,12 +327,12 @@ namespace vbtracker {
         cv::Mat ret;
         cv::Mat temp;
         cv::threshold(m_lastGrayImage, ret, m_sbdParams.minThreshold, 255,
-                      CV_THRESH_BINARY);
+                      cv::THRESH_BINARY);
         cv::Mat tempOut;
         for (int i = 1; getCurrentThresh(i) < m_sbdParams.maxThreshold; ++i) {
             auto currentThresh = getCurrentThresh(i);
             cv::threshold(m_lastGrayImage, temp, currentThresh, currentThresh,
-                          CV_THRESH_BINARY);
+                          cv::THRESH_BINARY);
             cv::addWeighted(ret, 0.5, temp, 0.5, 0, tempOut);
             ret = tempOut;
         }
@@ -364,7 +357,7 @@ namespace vbtracker {
 
         } else if (Algo::SimpleBlobDetector == m_algo) {
             cv::Mat tempColor;
-            cv::cvtColor(m_lastGrayImage, tempColor, CV_GRAY2BGR);
+            cv::cvtColor(m_lastGrayImage, tempColor, cv::COLOR_GRAY2BGR);
             // Draw detected blobs as blue circles.
             cv::drawKeypoints(tempColor, m_keyPoints, ret,
                               cv::Scalar(255, 0, 0),
@@ -425,12 +418,12 @@ namespace vbtracker {
         cv::Mat ret;
         cv::Mat temp;
         cv::threshold(getLatestGrayImage(), ret, m_sbdParams.minThreshold, 255,
-                      CV_THRESH_BINARY);
+                      cv::THRESH_BINARY);
         cv::Mat tempOut;
         for (int i = 1; getCurrentThresh(i) < m_sbdParams.maxThreshold; ++i) {
             auto currentThresh = getCurrentThresh(i);
             cv::threshold(getLatestGrayImage(), temp, currentThresh,
-                          currentThresh, CV_THRESH_BINARY);
+                          currentThresh, cv::THRESH_BINARY);
             cv::addWeighted(ret, 0.5, temp, 0.5, 0, tempOut);
             ret = tempOut;
         }
@@ -441,7 +434,7 @@ namespace vbtracker {
     cv::Mat SBDGenericBlobExtractor::generateDebugBlobImage_() const {
         cv::Mat ret;
         cv::Mat tempColor;
-        cv::cvtColor(getLatestGrayImage(), tempColor, CV_GRAY2BGR);
+        cv::cvtColor(getLatestGrayImage(), tempColor, cv::COLOR_GRAY2BGR);
         // Draw detected blobs as blue circles.
         cv::drawKeypoints(tempColor, m_keyPoints, ret, cv::Scalar(255, 0, 0),
                           cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
@@ -489,14 +482,7 @@ namespace vbtracker {
 /// @todo: Determine the maximum size of a trackable blob by seeing
 /// when we're so close that we can't view at least four in the
 /// camera.
-#if CV_MAJOR_VERSION == 2
-        cv::Ptr<cv::SimpleBlobDetector> detector =
-            new cv::SimpleBlobDetector(m_sbdParams);
-#elif CV_MAJOR_VERSION == 3
         auto detector = cv::SimpleBlobDetector::create(m_sbdParams);
-#else
-#error "Unrecognized OpenCV version!"
-#endif
         detector->detect(grayImage, m_keyPoints);
 
         // @todo: Consider computing the center of mass of a dilated