Merge pull request #1522 from fspindle/fix_opencv_5.x

Fix compat with opencv 5.x

CMakeLists.txt

@@ -1214,25 +1214,9 @@ if(USE_LIBFREENECT AND USE_LIBUSB_1 AND USE_THREADS)
   endif()
 endif()
 
-# check OpenCV nonfree modules and version
+# OpenCV version
 if(USE_OPENCV)
   set(VISP_HAVE_OPENCV_VERSION "(${OpenCV_VERSION_MAJOR}<<16 | ${OpenCV_VERSION_MINOR}<<8 | ${OpenCV_VERSION_PATCH})") # for vpConfig.h
-  if(OpenCV_VERSION)
-    if(OpenCV_VERSION VERSION_LESS "2.4.0")
-      message(STATUS "opencv nonfree module found")
-      set(VISP_HAVE_OPENCV_NONFREE TRUE)  # for header vpConfig.h
-    elseif(OPENCV_NONFREE_FOUND) # OpenCV < 3.0.0
-      message(STATUS "opencv xfeatures2d module found")
-      set(VISP_HAVE_OPENCV_NONFREE TRUE)  # for header vpConfig.h
-    elseif(OPENCV_XFEATURES2D_FOUND) # OpenCV >= 3.0.0
-      set(VISP_HAVE_OPENCV_XFEATURES2D TRUE)  # for header vpConfig.h
-    else()
-      message(STATUS "opencv nonfree or xfeature2d module not found")
-    endif()
-  else()
-    message(STATUS "opencv nonfree not found")
-    set(VISP_HAVE_OPENCV_VERSION "(0)") # for vpConfig.h
-  endif()
 endif()
 
 # coin and gui

apps/CMakeLists.txt

@@ -1,7 +1,7 @@
 #############################################################################
 #
 # ViSP, open source Visual Servoing Platform software.
-# Copyright (C) 2005 - 2023 by Inria. All rights reserved.
+# Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 #
 # This software is free software; you can redistribute it and/or modify
 # it under the terms of the GNU General Public License as published by

apps/calibration/CMakeLists.txt

@@ -17,7 +17,7 @@ if(VISP_HAVE_UR_RTDE)
   list(APPEND apps_cpp visp-acquire-universal-robots-calib-data.cpp)
 endif()
 
-file(GLOB apps_data "*.yaml" "*.py" "camera.xml" "*.png")
+file(GLOB apps_data "*.yaml" "*.py" "camera.xml" "*.jpg")
 
 foreach(cpp ${apps_cpp})
   visp_add_app(${cpp})

apps/calibration/visp-compute-chessboard-poses.cpp

@@ -1,6 +1,6 @@
 /*
  * ViSP, open source Visual Servoing Platform software.
- * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
+ * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
  * This software is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -36,9 +36,14 @@
 
 #include <visp3/core/vpConfig.h>
 
-#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(VISP_HAVE_PUGIXML)
+#if defined(VISP_HAVE_PUGIXML) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_HIGHGUI) && \
+  (((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_CALIB3D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_CALIB)))
 
+#if defined(HAVE_OPENCV_CALIB3D)
 #include <opencv2/calib3d/calib3d.hpp>
+#elif defined(HAVE_OPENCV_CALIB)
+#include <opencv2/calib.hpp>
+#endif
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
@@ -101,7 +106,7 @@ void usage(const char **argv, int error)
     << std::endl
     << "  --input <input images path>  Generic name of the images to process." << std::endl
     << "    Default: empty" << std::endl
-    << "    Example: \"image-%d.png\"" << std::endl
+    << "    Example: \"image-%d.jpg\"" << std::endl
     << std::endl
     << "  --intrinsic <Camera intrinsic parameters xml file>  XML file that contains" << std::endl
     << "    camera parameters. " << std::endl
@@ -120,6 +125,11 @@ void usage(const char **argv, int error)
 #endif
     << "  --help, -h  Print this helper message." << std::endl
     << std::endl;
+  std::cout << "Example" << std::endl
+    << "  "
+    << argv[0]
+    << " --input image-%d.jpg" << std::endl
+    << std::endl;
   if (error) {
     std::cout << "Error" << std::endl
       << "  "
@@ -140,32 +150,25 @@ int main(int argc, const char **argv)
 
   for (int i = 1; i < argc; i++) {
     if (std::string(argv[i]) == "-w" && i + 1 < argc) {
-      opt_chessboard_width = atoi(argv[i + 1]);
-      i++;
+      opt_chessboard_width = atoi(argv[++i]);
     }
     else if (std::string(argv[i]) == "-h" && i + 1 < argc) {
-      opt_chessboard_height = atoi(argv[i + 1]);
-      i++;
+      opt_chessboard_height = atoi(argv[++i]);
     }
     else if (std::string(argv[i]) == "--square-size" && i + 1 < argc) {
-      opt_chessboard_square_size = atof(argv[i + 1]);
-      i++;
+      opt_chessboard_square_size = atof(argv[++i]);
     }
     else if (std::string(argv[i]) == "--input" && i + 1 < argc) {
-      opt_input_img_files = std::string(argv[i + 1]);
-      i++;
+      opt_input_img_files = std::string(argv[++i]);
     }
     else if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
-      opt_intrinsic_file = std::string(argv[i + 1]);
-      i++;
+      opt_intrinsic_file = std::string(argv[++i]);
     }
     else if (std::string(argv[i]) == "--output" && i + 1 < argc) {
-      opt_output_pose_files = std::string(argv[i + 1]);
-      i++;
+      opt_output_pose_files = std::string(argv[++i]);
     }
     else if (std::string(argv[i]) == "--camera-name" && i + 1 < argc) {
-      opt_camera_name = std::string(argv[i + 1]);
-      i++;
+      opt_camera_name = std::string(argv[++i]);
     }
 #if defined(VISP_HAVE_MODULE_GUI)
     else if (std::string(argv[i]) == "--no-interactive") {
@@ -213,7 +216,6 @@ int main(int argc, const char **argv)
     std::cout << "  Output camera poses          : " << opt_output_pose_files << std::endl;
     std::cout << "  Interactive mode             : " << (opt_interactive ? "yes" : "no") << std::endl << std::endl;
 
-
 #if defined(VISP_HAVE_MODULE_GUI)
     vpDisplay *display = nullptr;
     if (opt_interactive) {
@@ -228,7 +230,7 @@ int main(int argc, const char **argv)
 #elif defined(VISP_HAVE_GTK)
       display = new vpDisplayGTK(I);
 #endif
-  }
+    }
 #endif
 
     std::vector<vpPoint> corners_pts;
@@ -339,7 +341,7 @@ int main(int argc, const char **argv)
       }
     }
 #endif
-}
+  }
   catch (const vpException &e) {
     std::cout << "Catch an exception: " << e.getMessage() << std::endl;
   }
@@ -349,9 +351,18 @@ int main(int argc, const char **argv)
 #else
 int main()
 {
-#if !(defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D))
+#if !defined(HAVE_OPENCV_IMGPROC)
+  std::cerr << "OpenCV imgproc module is requested to run the calibration." << std::endl;
+#endif
+#if !defined(HAVE_OPENCV_HIGHGUI)
+  std::cerr << "OpenCV highgui module is requested to run the calibration." << std::endl;
+#endif
+#if (VISP_HAVE_OPENCV_VERSION < 0x050000) && !defined(HAVE_OPENCV_CALIB3D)
   std::cerr << "OpenCV calib3d module is requested to run the calibration." << std::endl;
 #endif
+#if (VISP_HAVE_OPENCV_VERSION >= 0x050000) && !defined(HAVE_OPENCV_3D)
+  std::cerr << "OpenCV 3d module is requested to run the calibration." << std::endl;
+#endif
 #if !defined(VISP_HAVE_PUGIXML)
   std::cout << "pugixml built-in 3rdparty is requested to run the calibration." << std::endl;
 #endif

cmake/templates/VISPConfig.cmake.in

@@ -240,11 +240,10 @@ set(VISP_HAVE_OGRE           "@VISP_HAVE_OGRE@")
 set(VISP_HAVE_OIS            "@VISP_HAVE_OIS@")
 set(VISP_HAVE_OPENBLAS       "@VISP_HAVE_OPENBLAS@")
 set(VISP_HAVE_OPENCV         "@VISP_HAVE_OPENCV@")
-set(VISP_HAVE_OPENCV_NONFREE "@VISP_HAVE_OPENCV_NONFREE@")
 set(VISP_HAVE_OPENCV_VERSION "@VISP_HAVE_OPENCV_VERSION@")
 set(VISP_HAVE_OPENGL         "@VISP_HAVE_OPENGL@")
 set(VISP_HAVE_OPENMP         "@VISP_HAVE_OPENMP@")
-set(VISP_HAVE_PANDA3D           "@VISP_HAVE_PANDA3D@")
+set(VISP_HAVE_PANDA3D        "@VISP_HAVE_PANDA3D@")
 set(VISP_HAVE_PARPORT        "@VISP_HAVE_PARPORT@")
 set(VISP_HAVE_PCL            "@VISP_HAVE_PCL@")
 set(VISP_HAVE_PIONEER        "@VISP_HAVE_PIONEER@")

cmake/templates/vpConfig.h.in

@@ -177,19 +177,17 @@ namespace vp = VISP_NAMESPACE_NAME;
 // Defined if OpenCV available.
 #cmakedefine VISP_HAVE_OPENCV
 
-// Defined if OpenCV nonfree module available. Only with OpenCV < 3.0.0
-#cmakedefine VISP_HAVE_OPENCV_NONFREE
-
-// Defined if OpenCV xfeatures2d module available. Only since OpenCV >= 3.0.0
-#cmakedefine VISP_HAVE_OPENCV_XFEATURES2D
-
 // OpenCV version in hexadecimal (for example 2.1.0 gives 0x020100).
 #ifdef VISP_HAVE_OPENCV
 #  define VISP_HAVE_OPENCV_VERSION ${VISP_HAVE_OPENCV_VERSION}
 #  include <opencv2/opencv_modules.hpp>
 #endif
 
 // For compat with previous releases
+#if defined(HAVE_OPENCV_XFEATURES2D)
+#define VISP_HAVE_OPENCV_XFEATURES2D
+#endif
+
 #if defined(HAVE_OPENCV_OBJDETECT)
 #define VISP_HAVE_OPENCV_OBJDETECT
 #endif

doc/config-doxygen.in

@@ -2400,17 +2400,21 @@ PREDEFINED             = @DOXYGEN_SHOULD_SKIP_THIS@ \
                          VISP_HAVE_OGRE_RESOURCES_PATH \
                          VISP_HAVE_OIS \
                          VISP_HAVE_OPENCV \
-                         VISP_HAVE_OPENCV_NONFREE \
                          VISP_HAVE_OPENCV_VERSION=0x030403 \
+                         HAVE_OPENCV_3D \
+                         HAVE_OPENCV_CALIB \
                          HAVE_OPENCV_CALIB3D \
                          HAVE_OPENCV_DNN \
+                         HAVE_OPENCV_FEATURES \
                          HAVE_OPENCV_FEATURES2D \
                          HAVE_OPENCV_HIGHGUI \
                          HAVE_OPENCV_IMGCODECS \
                          HAVE_OPENCV_IMGPROC \
                          HAVE_OPENCV_OBJDETECT \
                          HAVE_OPENCV_VIDEO \
                          HAVE_OPENCV_VIDEOIO \
+                         HAVE_OPENCV_XFEATURES2D \
+                         HAVE_OPENCV_XOBJDETECT \
                          VISP_HAVE_OPENGL \
                          VISP_HAVE_PANDA3D \
                          VISP_HAVE_PARPORT \

doc/tutorial/tracking/tutorial-tracking-blob.dox

@@ -32,40 +32,40 @@ a v4l2 live camera that can be an usb camera, or a Raspberry Pi camera module.
 
 \subsection live-firewire From a firewire live camera
 
-The following code also available in tutorial-blob-tracker-live-firewire.cpp file provided in ViSP source code tree
+The following code also available in tutorial-blob-tracker-live.cpp file provided in ViSP source code tree
 allows to grab images from a firewire camera and track a blob. The initialisation is done with a user mouse click on
 a pixel that belongs to the blob.
 
 To acquire images from a firewire camera we use vp1394TwoGrabber class on unix-like systems or vp1394CMUGrabber class
 under Windows. These classes are described in the \ref tutorial-grabber.
 
-\include tutorial-blob-tracker-live-firewire.cpp
+\include tutorial-blob-tracker-live.cpp
 
 From now, we assume that you have successfully followed the \ref tutorial-getting-started and the \ref tutorial-grabber.
 Here after we explain the new lines that are introduced.
 
-\snippet tutorial-blob-tracker-live-firewire.cpp Construction
+\snippet tutorial-blob-tracker-live.cpp Construction
 
 Then we are modifying some default settings to allow drawings in overlay the contours pixels and the position of the
 center of gravity with a thickness of 2 pixels.
-\snippet tutorial-blob-tracker-live-firewire.cpp Setting
+\snippet tutorial-blob-tracker-live.cpp Setting
 
 Then we are waiting for a user initialization throw a mouse click event in the blob to track.
-\snippet tutorial-blob-tracker-live-firewire.cpp Init
+\snippet tutorial-blob-tracker-live.cpp Init
 
 The tracker is now initialized. The tracking can be performed on new images:
-\snippet tutorial-blob-tracker-live-firewire.cpp Track
+\snippet tutorial-blob-tracker-live.cpp Track
 
 \subsection live-v4l2 From a v4l2 live camera
 
-The following code also available in tutorial-blob-tracker-live-v4l2.cpp file provided in ViSP source code tree allows
+The following code also available in tutorial-blob-tracker-live.cpp file provided in ViSP source code tree allows
 to grab images from a camera compatible with video for linux two driver (v4l2) and track a blob. Webcams or more
 generally USB cameras, but also the Raspberry Pi Camera Module can be considered.
 
 To acquire images from a v4l2 camera we use vpV4l2Grabber class on unix-like systems. This class is described in the
 \ref tutorial-grabber.
 
-\include tutorial-blob-tracker-live-v4l2.cpp
+\include tutorial-blob-tracker-live.cpp
 
 The code is the same than the one presented in the previous subsection, except that here we use the vpV4l2Grabber
 class to grab images from usb cameras. Here we have also modified the while loop in order to catch an exception when

doc/tutorial/tracking/tutorial-tracking-mb-generic-apriltag-live.dox

@@ -105,7 +105,7 @@ tutorials given in \ref tutorial_install_src.
 Once build, to see the options that are available, just run:
 \code
 $ ./tutorial-mb-generic-tracker-apriltag-webcam --help
-Usage: ./tutorial-mb-generic-tracker-apriltag-webcam [--input <camera id>] [--cube_size <size in m>] [--tag_size <size in m>] [--quad_decimate <decimation>] [--nthreads <nb>] [--intrinsic <xml intrinsic file>] [--camera_name <camera name in xml file>] [--tag_family <0: TAG_36h11, 1: TAG_36h10, 2: TAG_36ARTOOLKIT,  3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5>] [--display_off] [--texture] [--projection_error <30 - 100>] [--help]
+Usage: ./tutorial-mb-generic-tracker-apriltag-webcam [--input <camera id>] [--cube-size <size in m>] [--tag-size <size in m>] [--quad-decimate <decimation>] [--nthreads <nb>] [--intrinsic <xml intrinsic file>] [--camera-name <camera name in xml file>] [--tag-family <0: TAG_36h11, 1: TAG_36h10, 2: TAG_36ARTOOLKIT,  3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5>] [--display-off] [--texture] [--projection-error <30 - 100>] [--help]
 \endcode
 
 To test the tracker on a 12.5 cm wide cube that has an AprilTag of size 8 by 8 cm, and enable moving-edges and
@@ -126,7 +126,7 @@ $ ./tutorial-mb-generic-tracker-apriltag-webcam --input 1
 \endcode
 - The default size of the cube is 0.125 meter large. To use rather a 0.20 meter large cube, run:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-webcam --cube_size 0.20
+$ ./tutorial-mb-generic-tracker-apriltag-webcam --cube-size 0.20
 \endcode
 - The AprilTag size is 0.08 by 0.08 meters. To change the tag size to let say 0.10 meter square, use:
 \code
@@ -160,7 +160,7 @@ $ ./tutorial-mb-generic-tracker-apriltag-webcam --display_off
   The default value of this threshold is set to 40 degrees. To decrease this threshold to 30 degrees (meaning that we
   accept less projection error and thus trigger a new AprilTag detection more often) you may run:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-webcam --projection_error 30
+$ ./tutorial-mb-generic-tracker-apriltag-webcam --projection-error 30
 \endcode
 
 \subsection mb_generic_apriltag_webcam_result Expected results
@@ -202,7 +202,7 @@ provided in the tutorials available from \ref tutorial_install_src.
 Once build, to see the options that are available, just run:
 \code
 $ ./tutorial-mb-generic-tracker-apriltag-rs2 --help
-Usage: ./tutorial-mb-generic-tracker-apriltag-rs2 [--cube_size <size in m>] [--tag_size <size in m>] [--quad_decimate <decimation>] [--nthreads <nb>] [--tag_family <0: TAG_36h11, 1: TAG_36h10, 2: TAG_36ARTOOLKIT,  3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5>] [--display_off] [--texture] [--depth] [--projection_error <30 - 100>] [--help]
+Usage: ./tutorial-mb-generic-tracker-apriltag-rs2 [--cube-size <size in m>] [--tag-size <size in m>] [--quad-decimate <decimation>] [--nthreads <nb>] [--tag-family <0: TAG_36h11, 1: TAG_36h10, 2: TAG_36ARTOOLKIT,  3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5>] [--display-off] [--texture] [--depth] [--projection-error <30 - 100>] [--help]
 \endcode
 
 To test the tracker on a 12.5 cm wide cube that has an AprilTag of size 8 by 8 cm, and enable moving-edges, keypoints
@@ -224,7 +224,7 @@ $ ./tutorial-mb-generic-tracker-apriltag-rs2
 By default, the following settings are used: <br>
 - Default size of the cube is 0.125 meter large. To use rather a 0.20 meter large cube, run:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-rs2 --cube_size 0.20
+$ ./tutorial-mb-generic-tracker-apriltag-rs2 --cube-size 0.20
 \endcode
 - The AprilTag size is 0.08 by 0.08 meters. To change the tag size to let say 0.10 meter square, use:
 \code
@@ -251,7 +251,7 @@ $ ./tutorial-mb-generic-tracker-apriltag-rs2 --display_off
   The default value of this threshold is set to 40 degrees. To decrease this threshold to 30 degrees (meaning that
   we accept less projection error and thus trigger a new AprilTag detection more often) you may run:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-webcam --projection_error 30
+$ ./tutorial-mb-generic-tracker-apriltag-webcam --projection-error 30
 \endcode
 
 \subsection mb_generic_apriltag_realsense_result Expected results

doc/tutorial/visual-servo/tutorial-franka-ibvs.dox

@@ -22,7 +22,7 @@ Now enter in `example/servo-franka folder` and run `servoFrankaIBVS` binary usin
 
     $ cd example/servo-franka
     $ ./servoFrankaIBVS --help
-    ./servoFrankaIBVS [--ip <default 192.168.1.1>] [--tag_size <marker size in meter; default 0.12>] [--eMc <eMc extrinsic file>] [--quad_decimate <decimation; default 2>] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]
+    ./servoFrankaIBVS [--ip <default 192.168.1.1>] [--tag-size <marker size in meter; default 0.12>] [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]
 
 Run the binary activating the plot and using a constant gain:
 

doc/tutorial/visual-servo/tutorial-franka-pbvs.dox

@@ -264,7 +264,7 @@ Now enter in `example/servo-franka folder` and run `servoFrankaPBVS` binary usin
 
     $ cd example/servo-franka
     $ ./servoFrankaPBVS --help
-    ./servoFrankaPBVS [--ip <default 192.168.1.1>] [--tag_size <marker size in meter; default 0.12>] [--eMc <eMc extrinsic file>] [--quad_decimate <decimation; default 2>] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]
+    ./servoFrankaPBVS [--ip <default 192.168.1.1>] [--tag-size <marker size in meter; default 0.12>] [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]
 
 Run the binary activating the plot and using a constant gain:
 

doc/tutorial/visual-servo/tutorial-universal-robot-ibvs.dox

@@ -135,8 +135,8 @@ Now enter in `example/servo-universal-robots folder` and run `servoUniversalRobo
 \verbatim
 $ cd example/servo-universal-robots
 $ ./servoUniversalRobotsIBVS --help
-./servoUniversalRobotsIBVS [--ip <default 192.168.0.100>] [--tag_size <marker size in meter; default 0.12>] \
-                           [--eMc <eMc extrinsic file>] [--quad_decimate <decimation; default 2>]           \
+./servoUniversalRobotsIBVS [--ip <default 192.168.0.100>] [--tag-size <marker size in meter; default 0.12>] \
+                           [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>]           \
                            [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold]      \
                            [--verbose] [--help] [-h]
 \endverbatim

doc/tutorial/visual-servo/tutorial-universal-robot-pbvs.dox

@@ -18,8 +18,8 @@ Now enter in `example/servo-universal-robots folder` and run `servoUniversalRobo
 \verbatim
 $ cd example/servo-universal-robots
 $ ./servoUniversalRobotsPBVS --help
-./servoUniversalRobotsPBVS [--ip <default 192.168.1.1>] [--tag_size <marker size in meter; default 0.12>] \
-                           [--eMc <eMc extrinsic file>] [--quad_decimate <decimation; default 2>]         \
+./servoUniversalRobotsPBVS [--ip <default 192.168.1.1>] [--tag-size <marker size in meter; default 0.12>] \
+                           [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>]         \
                            [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold]    \
                            [--verbose] [--help] [-h]
 \endverbatim