Changes to set OpenCV 2.4.8 as minimal required version

CMakeLists.txt

@@ -628,6 +628,23 @@ if(USE_PCL)
   vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
 endif()
 
+# ----------------------------------------------------------------------------
+# Handle OpenCV 2.4.8 as minimal version
+# ----------------------------------------------------------------------------
+if(USE_OPENCV)
+  if(OpenCV_VERSION)
+    if(OpenCV_VERSION VERSION_LESS "2.4.8")
+      message(WARNING "OpenCV 3rd party was detected but its version ${OpenCV_VERSION} is too old. Thus we disable OpenCV usage turning USE_OPENCV=OFF.")
+      unset(USE_OPENCV)
+      set(USE_OPENCV OFF CACHE BOOL "Include OpenCV support" FORCE)
+    endif()
+  else()
+    message(WARNING "OpenCV 3rd party was detected but its version cannot be found or is too old. Thus we disable OpenCV usage turning USE_OPENCV=OFF.")
+    unset(USE_OPENCV)
+    set(USE_OPENCV OFF CACHE BOOL "Include OpenCV support" FORCE)
+  endif()
+endif()
+
 # ----------------------------------------------------------------------------
 # Handle cxx standard depending on specific 3rd parties. Should be before module parsing and VISP3rdParty.cmake include
 # ----------------------------------------------------------------------------
@@ -642,7 +659,7 @@ endif()
 
 if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_14)
   if(USE_FTIITSDK)
-    message(WARNING "IIT force-torque SDK 3rd party was detected and needs at least c++14 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable IIT force-torque usage turning USE_OPENCV=OFF.")
+    message(WARNING "IIT force-torque SDK 3rd party was detected and needs at least c++14 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable IIT force-torque usage turning USE_FTIITSDK=OFF.")
     unset(USE_FTIITSDK)
     set(USE_FTIITSDK OFF CACHE BOOL "Include IIT force-torque SDK support" FORCE)
   endif()

ChangeLog.txt

@@ -18,6 +18,7 @@ ViSP 3.x.x (Version in development)
     . End of supporting c++98 standard. As a consequence, ViSP is no more compatible with Ubuntu 12.04
     . vpDisplay::displayCharString() is marked deprecated. Use vpDisplay::displayText() instead
   - New features and improvements
+    . OpenCV 2.4.8 is the minimal supported version
     . Introduce applications in apps folder, a collection of useful tools that
       have a dependency to the install target
     . Bump minimal c++ standard to c++11

doc/tutorial/tracking/tutorial-tracking-keypoint.dox

@@ -35,7 +35,7 @@ It can also be run with [--init-by-click] option. In that case, the user can sel
 $ ./tutorial-klt-tracker --init-by-click
 \endcode
 
-Here is the line by line explanation of the source : 
+Here is the line by line explanation of the source :
 
 \snippet tutorial-klt-tracker.cpp Include
 
@@ -60,19 +60,19 @@ This image \c I is then converted into \c cvI, an OpenCV image format that will
 
 \snippet tutorial-klt-tracker.cpp Convert to OpenCV image
 
-We also create a window associated to \c I, at position (0,0) in the screen, with "Klt tracking" as title, and display image \c I. 
+We also create a window associated to \c I, at position (0,0) in the screen, with "Klt tracking" as title, and display image \c I.
 
 \snippet tutorial-klt-tracker.cpp Init display
- 
+
 From now we have to create an instance of the tracker and set the parameters of the Harris keypoint detector.
 
 \snippet tutorial-klt-tracker.cpp Create tracker
- 
+
 The tracker is then initialized on \c cvI image.
 
 \snippet tutorial-klt-tracker.cpp Init tracker
 
-With the next line the user can know how many keypoints were detected automatically or selected by the user during initialization. 
+With the next line the user can know how many keypoints were detected automatically or selected by the user during initialization.
 
 \snippet tutorial-klt-tracker.cpp How many features
 
@@ -92,7 +92,7 @@ We are waiting for a mouse click event on image \c I to end the program.
 
 \section tracking_keypoint_klt_init KLT tracker with re-initialisation
 
-Once initialized, the number of tracked features decreases over the time. Depending on a criteria, it may sense to detect and track new features online. A possible criteria is for example to compare the number of currently tracked features to the initial number of detected features. If less than a given percentage of features are tracked, you can start a new detection. 
+Once initialized, the number of tracked features decreases over the time. Depending on a criteria, it may sense to detect and track new features online. A possible criteria is for example to compare the number of currently tracked features to the initial number of detected features. If less than a given percentage of features are tracked, you can start a new detection.
 
 To get the number of detected or tracked features just call:
 
@@ -107,10 +107,10 @@ The example tutorial-klt-tracker-with-reinit.cpp shows how to do that. In that e
 \code
       if (reader.getFrameIndex() == 25) {
         std::cout << "Re initialize the tracker" << std::endl;
-#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
+
         // Save of previous features
         std::vector<cv::Point2f> prev_features = tracker.getFeatures();
- 
+
         // Start a new feature detection
         tracker.initTracking(cvI);
         std::vector<cv::Point2f> new_features = tracker.getFeatures();
@@ -122,7 +122,7 @@ The example tutorial-klt-tracker-with-reinit.cpp shows how to do that. In that e
           // Test if a previous feature is not redundant with one of the newly detected
           is_redundant = false;
           for (size_t j=0; j < new_features.size(); j++){
-            distance = sqrt(vpMath::sqr(new_features[j].x-prev_features[i].x) 
+            distance = sqrt(vpMath::sqr(new_features[j].x-prev_features[i].x)
                        + vpMath::sqr(new_features[j].y-prev_features[i].y));
             if(distance < minDistance_){
               is_redundant = true;
@@ -135,9 +135,6 @@ The example tutorial-klt-tracker-with-reinit.cpp shows how to do that. In that e
           //std::cout << "Add previous feature with index " << i << std::endl;
           tracker.addFeature(prev_features[i]);
         }
-#else
-      ...
-#endif
       }
       // Track the features
       tracker.track(cvI);

modules/gui/include/visp3/gui/vpDisplayOpenCV.h

@@ -135,18 +135,11 @@
 class VISP_EXPORT vpDisplayOpenCV : public vpDisplay
 {
 private:
-#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
-  IplImage *m_background;
-  CvScalar *col;
-  CvScalar cvcolor;
-  CvFont *font;
-#else
   cv::Mat m_background;
   cv::Scalar *col;
   cv::Scalar cvcolor;
   int font;
   float fontScale;
-#endif
   static std::vector<std::string> m_listTitles;
   static unsigned int m_nbWindows;
   int fontHeight;
@@ -175,14 +168,8 @@ class VISP_EXPORT vpDisplayOpenCV : public vpDisplay
   // private:
   //#ifndef DOXYGEN_SHOULD_SKIP_THIS
   //  vpDisplayOpenCV(const vpDisplayOpenCV &)
-  //    : vpDisplay(),
-  //    #if (VISP_HAVE_OPENCV_VERSION < 0x020408)
-  //      background(nullptr), col(nullptr), cvcolor(), font(nullptr),
-  //    #else
-  //      background(), col(nullptr), cvcolor(), font(cv::FONT_HERSHEY_PLAIN),
-  //      fontScale(0.8f),
-  //    #endif
-  //      fontHeight(10), x_move(0), y_move(0) , move(false),
+  //    : vpDisplay(), background(), col(nullptr), cvcolor(), font(cv::FONT_HERSHEY_PLAIN),
+  //      fontScale(0.8f), fontHeight(10), x_move(0), y_move(0) , move(false),
   //      x_lbuttondown(0), y_lbuttondown(0), lbuttondown(false),
   //      x_mbuttondown(0), y_mbuttondown(0), mbuttondown(false),
   //      x_rbuttondown(0), y_rbuttondown(0), rbuttondown(false),