noetic build

.gitignore

@@ -0,0 +1,3 @@
+.idea
+.vscode
+cmake-build-debug/

kinect2_bridge/CMakeLists.txt

@@ -7,18 +7,6 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self -Wunused-fun
 # Additional warnings
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Warray-bounds -Wtype-limits -Wreturn-type -Wsequence-point -Wparentheses -Wmissing-braces -Wchar-subscripts -Wswitch -Wwrite-strings -Wenum-compare -Wempty-body -Wlogical-op")
 
-# Check for c++11 support
-INCLUDE(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-IF(COMPILER_SUPPORTS_CXX11)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-ELSEIF(COMPILER_SUPPORTS_CXX0X)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-ELSE()
-  MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
-ENDIF()
-
 find_package(freenect2 REQUIRED HINTS "$ENV{HOME}/freenect2")
 
 find_package(catkin REQUIRED COMPONENTS roscpp rostime tf std_msgs sensor_msgs nodelet cv_bridge compressed_depth_image_transport kinect2_registration)

kinect2_bridge/src/kinect2_bridge.cpp

@@ -461,12 +461,12 @@ class Kinect2Bridge
   void initCompression(const int32_t jpegQuality, const int32_t pngLevel, const bool use_png)
   {
     compressionParams.resize(7, 0);
-    compressionParams[0] = CV_IMWRITE_JPEG_QUALITY;
+    compressionParams[0] = cv::IMWRITE_JPEG_QUALITY;
     compressionParams[1] = jpegQuality;
-    compressionParams[2] = CV_IMWRITE_PNG_COMPRESSION;
+    compressionParams[2] = cv::IMWRITE_PNG_COMPRESSION;
     compressionParams[3] = pngLevel;
-    compressionParams[4] = CV_IMWRITE_PNG_STRATEGY;
-    compressionParams[5] = CV_IMWRITE_PNG_STRATEGY_RLE;
+    compressionParams[4] = cv::IMWRITE_PNG_STRATEGY;
+    compressionParams[5] = cv::IMWRITE_PNG_STRATEGY_RLE;
     compressionParams[6] = 0;
 
     if(use_png)
@@ -1100,11 +1100,11 @@ class Kinect2Bridge
       cv::flip(color, tmp, 1);
       if(colorFrame->format == libfreenect2::Frame::BGRX)
       {
-        cv::cvtColor(tmp, images[COLOR_HD], CV_BGRA2BGR);
+        cv::cvtColor(tmp, images[COLOR_HD], cv::COLOR_BGRA2BGR);
       }
       else
       {
-        cv::cvtColor(tmp, images[COLOR_HD], CV_RGBA2BGR);
+        cv::cvtColor(tmp, images[COLOR_HD], cv::COLOR_RGBA2BGR);
       }
     }
 
@@ -1180,11 +1180,11 @@ class Kinect2Bridge
       cv::flip(cv::Mat(sizeIr, CV_8UC4, registered.data), tmp, 1);
       if(color.format == libfreenect2::Frame::BGRX)
       {
-        cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_BGRA2BGR);
+        cv::cvtColor(tmp, images[COLOR_SD_RECT], cv::COLOR_BGRA2BGR);
       }
       else
       {
-        cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_RGBA2BGR);
+        cv::cvtColor(tmp, images[COLOR_SD_RECT], cv::COLOR_RGBA2BGR);
       }
     }
 
@@ -1247,19 +1247,19 @@ class Kinect2Bridge
     // MONO
     if(status[MONO_HD])
     {
-      cv::cvtColor(images[COLOR_HD], images[MONO_HD], CV_BGR2GRAY);
+      cv::cvtColor(images[COLOR_HD], images[MONO_HD], cv::COLOR_BGR2GRAY);
     }
     if(status[MONO_HD_RECT])
     {
-      cv::cvtColor(images[COLOR_HD_RECT], images[MONO_HD_RECT], CV_BGR2GRAY);
+      cv::cvtColor(images[COLOR_HD_RECT], images[MONO_HD_RECT], cv::COLOR_BGR2GRAY);
     }
     if(status[MONO_QHD])
     {
-      cv::cvtColor(images[COLOR_QHD], images[MONO_QHD], CV_BGR2GRAY);
+      cv::cvtColor(images[COLOR_QHD], images[MONO_QHD], cv::COLOR_BGR2GRAY);
     }
     if(status[MONO_QHD_RECT])
     {
-      cv::cvtColor(images[COLOR_QHD_RECT], images[MONO_QHD_RECT], CV_BGR2GRAY);
+      cv::cvtColor(images[COLOR_QHD_RECT], images[MONO_QHD_RECT], cv::COLOR_BGR2GRAY);
     }
   }
 

kinect2_calibration/src/kinect2_calibration.cpp

@@ -110,7 +110,7 @@ class Recorder
       circleFlags = cv::CALIB_CB_ASYMMETRIC_GRID + cv::CALIB_CB_CLUSTERING;
     }
 
-    params.push_back(CV_IMWRITE_PNG_COMPRESSION);
+    params.push_back(cv::IMWRITE_PNG_COMPRESSION);
     params.push_back(9);
 
     board.resize(boardDims.width * boardDims.height);
@@ -743,7 +743,7 @@ class CameraCalibration
 #if CV_MAJOR_VERSION == 2
     error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
                                 rotation, translation, essential, fundamental, termCriteria, cv::CALIB_FIX_INTRINSIC);
-#elif CV_MAJOR_VERSION == 3
+#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
     error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
                                 rotation, translation, essential, fundamental, cv::CALIB_FIX_INTRINSIC, termCriteria);
 #endif
@@ -1091,7 +1091,7 @@ class DepthCalibration
     //cv::solvePnP(board, points[index], cameraMatrix, distortion, rvec, translation, false, cv::EPNP);
 #if CV_MAJOR_VERSION == 2
     cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, board.size(), cv::noArray(), cv::ITERATIVE);
-#elif CV_MAJOR_VERSION == 3
+#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
     cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, 0.99, cv::noArray(), cv::SOLVEPNP_ITERATIVE);
 #endif
     cv::Rodrigues(rvec, rotation);

kinect2_registration/CMakeLists.txt

@@ -7,18 +7,6 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self -Wunused-fun
 # Additional warnings
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Warray-bounds -Wtype-limits -Wreturn-type -Wsequence-point -Wparentheses -Wmissing-braces -Wchar-subscripts -Wswitch -Wwrite-strings -Wenum-compare -Wempty-body")# -Wlogical-op")
 
-# Check for c++11 support
-INCLUDE(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-IF(COMPILER_SUPPORTS_CXX11)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-ELSEIF(COMPILER_SUPPORTS_CXX0X)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-ELSE()
-  MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
-ENDIF()
-
 # additional cmake modules
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 

kinect2_viewer/CMakeLists.txt

@@ -7,18 +7,6 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self -Wunused-fun
 # Additional warnings
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Warray-bounds -Wtype-limits -Wreturn-type -Wsequence-point -Wparentheses -Wmissing-braces -Wchar-subscripts -Wswitch -Wwrite-strings -Wenum-compare -Wempty-body -Wlogical-op")
 
-# Check for c++11 support
-INCLUDE(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-IF(COMPILER_SUPPORTS_CXX11)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-ELSEIF(COMPILER_SUPPORTS_CXX0X)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-ELSE()
-  MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
-ENDIF()
-
 find_package(catkin REQUIRED COMPONENTS roscpp rostime std_msgs sensor_msgs message_filters cv_bridge image_transport compressed_image_transport compressed_depth_image_transport kinect2_bridge)
 
 ## System dependencies are found with CMake's conventions

kinect2_viewer/src/viewer.cpp

@@ -276,7 +276,7 @@ class Receiver
         combine(color, depthDisp, combined);
         //combined = color;
 
-        cv::putText(combined, oss.str(), pos, font, sizeText, colorText, lineText, CV_AA);
+        cv::putText(combined, oss.str(), pos, font, sizeText, colorText, lineText, cv::LINE_AA);
         cv::imshow("Image Viewer", combined);
       }