Update opencv to version 4 for noetic

bwi_mapper/include/bwi_mapper/connected_components.h

@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 #include <vector>
 
 namespace bwi_mapper {

bwi_mapper/include/bwi_mapper/graph.h

@@ -42,7 +42,7 @@
 #include <boost/graph/labeled_graph.hpp>
 #include <bwi_mapper/structures/point.h>
 
-#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 #include <nav_msgs/MapMetaData.h>
 #include <nav_msgs/OccupancyGrid.h>
 

bwi_mapper/include/bwi_mapper/map_loader.h

@@ -44,7 +44,7 @@
 #include <nav_msgs/GetMap.h>
 #include <nav_msgs/GetMapResponse.h>
 #include <yaml-cpp/yaml.h>
-#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 
 namespace bwi_mapper {
 

bwi_mapper/include/bwi_mapper/structures/point.h

@@ -37,7 +37,7 @@
 
 #pragma once
 
-#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 #include <stdint.h>
 
 namespace bwi_mapper {

bwi_mapper/src/libbwi_mapper/connected_components.cpp

@@ -62,12 +62,12 @@ namespace bwi_mapper {
     std::vector<cv::Vec4i> hierarchy;
 
     cv::findContours(src, contours, hierarchy, 
-        CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
+        cv::RETR_CCOMP, cv::CHAIN_APPROX_SIMPLE);
 
     number_components_ = 0;
     for(int idx = 0; idx >= 0; idx = hierarchy[idx][0]) {
       cv::Scalar color(number_components_ + 1);
-      cv::drawContours(dst, contours, idx, color, CV_FILLED, 8, hierarchy);
+      cv::drawContours(dst, contours, idx, color, cv::FILLED, 8, hierarchy);
       number_components_++;
     }
 

bwi_mapper/src/libbwi_mapper/graph.cpp

@@ -105,7 +105,7 @@ namespace bwi_mapper {
             cv::Point end_shift = end_pt + shift_ratio * (start_pt - end_pt);
             cv::line(image, start_shift, end_shift,
                 cv::Scalar(160, 160, 255),
-                4, CV_AA); // draw an anti aliased line
+                4, cv::LINE_AA); // draw an anti aliased line
           }
         }
       }
@@ -123,10 +123,10 @@ namespace bwi_mapper {
           text_loc = text_loc + cv::Point(-7,0);
         }
         cv::putText(image, boost::lexical_cast<std::string>(count), text_loc,
-            cv::FONT_HERSHEY_SIMPLEX, 0.7, cvScalar(0,0,255), 2, CV_AA);
+            cv::FONT_HERSHEY_SIMPLEX, 0.7, cv::Scalar(0,0,255), 2, cv::LINE_AA);
       } else {
         size_t vertex_size = 13; // + graph[*vi].pixels / 10;
-        cv::circle(image, vertex_loc, vertex_size, cv::Scalar(0,0,255), -1, CV_AA);
+        cv::circle(image, vertex_loc, vertex_size, cv::Scalar(0,0,255), -1, cv::LINE_AA);
       }
       count++;
     }
@@ -142,7 +142,7 @@ namespace bwi_mapper {
       cv::Point2f(size * cosf(orientation + M_PI/2),
                   size * sinf(orientation + M_PI/2));
 
-    cv::line(image, arrow_start, arrow_end, color, thickness, CV_AA);
+    cv::line(image, arrow_start, arrow_end, color, thickness, cv::LINE_AA);
 
     // http://mlikihazar.blogspot.com/2013/02/draw-arrow-opencv.html
     cv::Point p(arrow_start), q(arrow_end);
@@ -151,12 +151,12 @@ namespace bwi_mapper {
     float angle = atan2f(p.y - q.y, p.x - q.x);
     p.x = (int) (q.x + (size/2 - 1) * cos(angle + M_PI/4));
     p.y = (int) (q.y + (size/2 - 1) * sin(angle + M_PI/4));
-    cv::line(image, p, q, color, thickness, CV_AA);
+    cv::line(image, p, q, color, thickness, cv::LINE_AA);
 
     //Draw the second segment
     p.x = (int) (q.x + (size/2 + 1) * cos(angle - M_PI/4));
     p.y = (int) (q.y + (size/2 + 1) * sin(angle - M_PI/4));
-    cv::line(image, p, q, color, thickness, CV_AA);
+    cv::line(image, p, q, color, thickness, cv::LINE_AA);
 
   }
 
@@ -186,7 +186,7 @@ namespace bwi_mapper {
       uint32_t orig_x, uint32_t orig_y) {
     Point2f loc = getLocationFromGraphId(node, graph);
     cv::Point circle_loc(loc.x + orig_x, loc.y + orig_y);
-    cv::circle(image, circle_loc, 15, color, 2, CV_AA);
+    cv::circle(image, circle_loc, 15, color, 2, cv::LINE_AA);
   }
 
   void drawSquareOnGraph(cv::Mat &image, const Graph& graph,
@@ -195,7 +195,7 @@ namespace bwi_mapper {
     Point2f loc = getLocationFromGraphId(node, graph);
     cv::Point square_loc(loc.x + orig_x, loc.y + orig_y);
     cv::Rect rect(square_loc.x - size/2, square_loc.y - size/2, size, size);
-    cv::rectangle(image, rect, color, thickness, CV_AA);
+    cv::rectangle(image, rect, color, thickness, cv::LINE_AA);
   }
 
   void writeGraphToFile(const std::string &filename,

bwi_mapper/src/libbwi_mapper/topological_mapper.cpp

@@ -42,7 +42,7 @@
 
 #include <boost/foreach.hpp>
 
-#include <opencv/highgui.h>
+#include <opencv2/highgui.hpp>
 #include <opencv2/opencv_modules.hpp>
 #ifdef HAVE_OPENCV_IMGCODECS
 // this is OpenCV 3 and we need extra includes
@@ -329,7 +329,7 @@ namespace bwi_mapper {
     // connected regions
     cv::Mat component_map_color;
     drawMap(component_map_color, inflated_map_);
-    cvtColor(component_map_color, component_image_, CV_RGB2GRAY);
+    cvtColor(component_map_color, component_image_, cv::COLOR_RGB2GRAY);
     drawCriticalLines(component_image_);
 
     component_map_.resize(
@@ -1041,7 +1041,7 @@ namespace bwi_mapper {
               cv::Point(orig_x + p1.x, orig_y + p1.y),
               cv::Point(orig_x + p2.x, orig_y + p2.y), 
               color,
-              2, CV_AA); // draw a 4 connected line
+              2, cv::LINE_AA); // draw a 4 connected line
         }
       }
     }

bwi_mapper/src/libbwi_mapper/voronoi_approximator.cpp

@@ -239,7 +239,7 @@ namespace bwi_mapper {
     for (size_t i = 0; i < voronoi_points_.size(); ++i) {
       VoronoiPoint &vp = voronoi_points_[i];
       cv::Point p(vp.x + orig_x, orig_y + vp.y);
-      cv::circle(image, p, 1, cv::Scalar(255,0,0), -1, CV_AA);
+      cv::circle(image, p, 1, cv::Scalar(255,0,0), -1, cv::LINE_AA);
       // image.at<cv::Vec3b>
       //   (orig_y + vp.y, vp.x + orig_x) = 
       //   cv::Vec3b(255,0,0);

bwi_mapper/src/nodes/generate_graph.cpp

@@ -61,7 +61,7 @@ int main(int argc, char** argv) {
   std::string filename(argv[2]);
   mapper.writePointGraphToFile(filename);
 
-  cv::namedWindow("Display window", CV_WINDOW_AUTOSIZE);
+  cv::namedWindow("Display window", cv::WINDOW_AUTOSIZE);
   cv::imshow("Display window", image);                
 
   cv::waitKey(0); // Wait for a keystroke in the window

bwi_mapper/src/nodes/prepare_graph.cpp

@@ -142,7 +142,7 @@ int main(int argc, char** argv) {
   mapper.drawMap(image);
   drawElementsFile(argv[3], image, graph, info);
 
-  cv::namedWindow("Display window", CV_WINDOW_AUTOSIZE);
+  cv::namedWindow("Display window", cv::WINDOW_AUTOSIZE);
   cv::imshow("Display window", image);                
   cv::imwrite("out.png", image);                
 

bwi_mapper/src/nodes/view_graph.cpp

@@ -59,7 +59,7 @@ int main(int argc, char** argv) {
   mapper.drawMap(image);
   bwi_mapper::drawGraph(image, graph);
 
-  cv::namedWindow("Display window", CV_WINDOW_NORMAL);
+  cv::namedWindow("Display window", cv::WINDOW_NORMAL);
   cv::imshow("Display window", image);
 
   cv::waitKey(0); // Wait for a keystroke in the window

bwi_mapper/test/test_graph.cpp

@@ -58,7 +58,7 @@ int main(int argc, char** argv) {
   mapper.drawOutput(image);
   mapper.saveOutput();
 
-  cv::namedWindow("Display window", CV_WINDOW_AUTOSIZE);
+  cv::namedWindow("Display window", cv::WINDOW_AUTOSIZE);
   cv::imshow("Display window", image);                
 
   cv::waitKey(0); // Wait for a keystroke in the window

bwi_mapper/test/test_map_loader.cpp

@@ -55,7 +55,7 @@ int main(int argc, char** argv) {
   cv::Mat image;
   ml.drawMap(image, 10, 10);
 
-  cv::namedWindow("Display window", CV_WINDOW_AUTOSIZE);
+  cv::namedWindow("Display window", cv::WINDOW_AUTOSIZE);
   cv::imshow("Display window", image);                
 
   cv::waitKey(0); // Wait for a keystroke in the window

bwi_mapper/test/test_voronoi.cpp

@@ -90,7 +90,7 @@ int main(int argc, char** argv) {
   voronoi4.drawVoronoiPoints(image);
   cv::imwrite("voronoi_naive_4.png", image);
 
-  cv::namedWindow("Display window", CV_WINDOW_AUTOSIZE);
+  cv::namedWindow("Display window", cv::WINDOW_AUTOSIZE);
   cv::imshow("Display window", display_image);                
 
   cv::waitKey(0); // Wait for a keystroke in the window

bwi_tools/include/bwi_tools/point.h

@@ -1,7 +1,7 @@
 #ifndef BWI_TOOLS_POINT_H
 #define BWI_TOOLS_POINT_H
 
-#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 
 namespace bwi {