From 357fc3f20d0a2252b6a0a6cab8a6ae6cf79b8565 Mon Sep 17 00:00:00 2001
From: Jochen Sprickerhof <git@jochen.sprickerhof.de>
Date: Wed, 23 Oct 2019 22:15:57 +0200
Subject: [PATCH] Support OpenCV 4

---
 src/nodelet/face_recognition_nodelet.cpp | 18 +++++++++++++++---
 src/nodelet/segment_objects_nodelet.cpp  |  4 ++++
 src/nodelet/simple_flow_nodelet.cpp      |  4 ++--
 3 files changed, 21 insertions(+), 5 deletions(-)

Index: opencv_apps-2.0.1/src/nodelet/face_recognition_nodelet.cpp
===================================================================
--- opencv_apps-2.0.1.orig/src/nodelet/face_recognition_nodelet.cpp
+++ opencv_apps-2.0.1/src/nodelet/face_recognition_nodelet.cpp
@@ -229,7 +229,11 @@ public:
           fs::path file_path = cit->path();
           try
           {
+#if CV_MAJOR_VERSION > 3
+            cv::Mat img = cv::imread(file_path.string(), cv::IMREAD_COLOR);
+#else
             cv::Mat img = cv::imread(file_path.string(), CV_LOAD_IMAGE_COLOR);
+#endif
             labels.push_back(label);
             images.push_back(img);
           }
@@ -327,7 +331,11 @@ class FaceRecognitionNodelet : public op
                int(face.face.height + face.face.height * face_padding_));
     cv::Scalar color(0.0, 0.0, 255.0);
     int boldness = 2;
+#if CV_MAJOR_VERSION > 3
+    cv::rectangle(img, r.tl(), r.br(), color, boldness, cv::LINE_AA);
+#else
     cv::rectangle(img, r.tl(), r.br(), color, boldness, CV_AA);
+#endif
 
     double font_scale = 1.5;
     int text_height = 20;
@@ -338,7 +346,11 @@ class FaceRecognitionNodelet : public op
       text_bl = r.br() + cv::Point(-r.width, text_height);
     std::stringstream ss;
     ss << face.label << " (" << std::fixed << std::setprecision(2) << face.confidence << ")";
+#if CV_MAJOR_VERSION > 3
+    cv::putText(img, ss.str(), text_bl, cv::FONT_HERSHEY_PLAIN, font_scale, color, boldness, cv::LINE_AA);
+#else
     cv::putText(img, ss.str(), text_bl, cv::FONT_HERSHEY_PLAIN, font_scale, color, boldness, CV_AA);
+#endif
   }
 
   void extractImage(const cv::Mat& img, const opencv_apps::Rect& rect, cv::Mat& ret, double padding = 0.0)
@@ -548,7 +560,7 @@ class FaceRecognitionNodelet : public op
         if (config.model_method == "eigen")
         {
 // https://docs.opencv.org/3.3.1/da/d60/tutorial_face_main.html
-#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
+#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3)
           model_ = face::EigenFaceRecognizer::create(config.model_num_components, config.model_threshold);
 #else
           model_ = face::createEigenFaceRecognizer(config.model_num_components, config.model_threshold);
@@ -556,7 +568,7 @@ class FaceRecognitionNodelet : public op
         }
         else if (config.model_method == "fisher")
         {
-#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
+#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3)
           model_ = face::FisherFaceRecognizer::create(config.model_num_components, config.model_threshold);
 #else
           model_ = face::createFisherFaceRecognizer(config.model_num_components, config.model_threshold);
@@ -564,7 +576,7 @@ class FaceRecognitionNodelet : public op
         }
         else if (config.model_method == "LBPH")
         {
-#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
+#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3)
           model_ = face::LBPHFaceRecognizer::create(config.lbph_radius, config.lbph_neighbors, config.lbph_grid_x,
                                                     config.lbph_grid_y);
 #else
Index: opencv_apps-2.0.1/src/nodelet/segment_objects_nodelet.cpp
===================================================================
--- opencv_apps-2.0.1.orig/src/nodelet/segment_objects_nodelet.cpp
+++ opencv_apps-2.0.1/src/nodelet/segment_objects_nodelet.cpp
@@ -179,7 +179,11 @@ class SegmentObjectsNodelet : public ope
         }
       }
       cv::Scalar color(0, 0, 255);
+#if CV_MAJOR_VERSION > 3
+      cv::drawContours(out_frame, contours, largest_comp, color, cv::FILLED, 8, hierarchy);
+#else
       cv::drawContours(out_frame, contours, largest_comp, color, CV_FILLED, 8, hierarchy);
+#endif
 
       std_msgs::Float64 area_msg;
       area_msg.data = max_area;
Index: opencv_apps-2.0.1/src/nodelet/simple_flow_nodelet.cpp
===================================================================
--- opencv_apps-2.0.1.orig/src/nodelet/simple_flow_nodelet.cpp
+++ opencv_apps-2.0.1/src/nodelet/simple_flow_nodelet.cpp
@@ -46,7 +46,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/video/tracking.hpp>
-#if CV_MAJOR_VERSION == 3
+#if CV_MAJOR_VERSION >= 3
 #include <opencv2/optflow.hpp>
 #endif
 
@@ -163,8 +163,8 @@ class SimpleFlowNodelet : public opencv_
       }
 
       float start = (float)cv::getTickCount();
-#if CV_MAJOR_VERSION == 3
-      cv::optflow::calcOpticalFlowSF(gray, prevGray,
+#if CV_MAJOR_VERSION >= 3
+      cv::optflow::calcOpticalFlowSF(gray, prevGray,
 #else
       cv::calcOpticalFlowSF(gray, prevGray,
 #endif