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Suitable for Ubuntu 20.04 with ceres-solver 1.12.0 #395

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Suitable for Ubuntu 20.04 with ceres-solver 1.12.0 #395

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2 changes: 2 additions & 0 deletions camera_model/include/camodocal/calib/CameraCalibration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@
#include <opencv2/core/core.hpp>

#include "camodocal/camera_models/Camera.h"
#include <opencv2/imgproc/types_c.h>
#include <opencv2/imgproc/imgproc_c.h>

namespace camodocal
{
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2 changes: 2 additions & 0 deletions camera_model/include/camodocal/chessboard/Chessboard.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@

#include <boost/shared_ptr.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/types_c.h>
#include <opencv2/calib3d/calib3d_c.h>

namespace camodocal
{
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2 changes: 1 addition & 1 deletion pose_graph/src/ThirdParty/DVision/BRIEF.cpp
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Expand Up @@ -50,7 +50,7 @@ void BRIEF::compute(const cv::Mat &image,
cv::Mat aux;
if(image.depth() == 3)
{
cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);
}
else
{
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4 changes: 2 additions & 2 deletions pose_graph/src/keyframe.cpp
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Expand Up @@ -441,9 +441,9 @@ bool KeyFrame::findConnection(KeyFrame* old_kf)
cv::line(loop_match_img, matched_2d_cur[i], old_pt, cv::Scalar(0, 255, 0), 2, 8, 0);
}
cv::Mat notation(50, COL + gap + COL, CV_8UC3, cv::Scalar(255, 255, 255));
putText(notation, "current frame: " + to_string(index) + " sequence: " + to_string(sequence), cv::Point2f(20, 30), CV_FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);
putText(notation, "current frame: " + to_string(index) + " sequence: " + to_string(sequence), cv::Point2f(20, 30), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);

putText(notation, "previous frame: " + to_string(old_kf->index) + " sequence: " + to_string(old_kf->sequence), cv::Point2f(20 + COL + gap, 30), CV_FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);
putText(notation, "previous frame: " + to_string(old_kf->index) + " sequence: " + to_string(old_kf->sequence), cv::Point2f(20 + COL + gap, 30), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);
cv::vconcat(notation, loop_match_img, loop_match_img);

/*
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10 changes: 5 additions & 5 deletions pose_graph/src/pose_graph.cpp
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Expand Up @@ -309,7 +309,7 @@ int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index)
{
int feature_num = keyframe->keypoints.size();
cv::resize(keyframe->image, compressed_image, cv::Size(376, 240));
putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
image_pool[frame_index] = compressed_image;
}
TicToc tmp_t;
Expand All @@ -330,7 +330,7 @@ int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index)
{
loop_result = compressed_image.clone();
if (ret.size() > 0)
putText(loop_result, "neighbour score:" + to_string(ret[0].Score), cv::Point2f(10, 50), CV_FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255));
putText(loop_result, "neighbour score:" + to_string(ret[0].Score), cv::Point2f(10, 50), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255));
}
// visual loop result
if (DEBUG_IMAGE)
Expand All @@ -340,7 +340,7 @@ int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index)
int tmp_index = ret[i].Id;
auto it = image_pool.find(tmp_index);
cv::Mat tmp_image = (it->second).clone();
putText(tmp_image, "index: " + to_string(tmp_index) + "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), CV_FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255));
putText(tmp_image, "index: " + to_string(tmp_index) + "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255));
cv::hconcat(loop_result, tmp_image, loop_result);
}
}
Expand All @@ -357,7 +357,7 @@ int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index)
{
auto it = image_pool.find(tmp_index);
cv::Mat tmp_image = (it->second).clone();
putText(tmp_image, "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
putText(tmp_image, "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
cv::hconcat(loop_result, tmp_image, loop_result);
}
}
Expand Down Expand Up @@ -393,7 +393,7 @@ void PoseGraph::addKeyFrameIntoVoc(KeyFrame* keyframe)
{
int feature_num = keyframe->keypoints.size();
cv::resize(keyframe->image, compressed_image, cv::Size(376, 240));
putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
image_pool[keyframe->index] = compressed_image;
}

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