i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

android: fixed opencv4 deprecated errors

Browse Source
This commit is contained in:
matlabbe
2022-01-04 19:46:20 +00:00
parent a08fce2068
commit 1173f06bc8
5 changed files with 12 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
app/android/jni/CameraARCore.cpp
View File

@@ -520,11 +520,11 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
cv::Mat yuv(height+height/2, width, CV_8UC1);
memcpy(yuv.data, plane_data, data_length);
memcpy(yuv.data+data_length, plane_uv_data, height/2*width);
cv::cvtColor(yuv, rgb, CV_YUV2BGR_NV21);
cv::cvtColor(yuv, rgb, cv::COLOR_YUV2BGR_NV21);
}
else
{
cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)plane_data), rgb, CV_YUV2BGR_NV21);
cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)plane_data), rgb, cv::COLOR_YUV2BGR_NV21);
}
std::vector<cv::KeyPoint> kpts;

2
app/android/jni/CameraAREngine.cpp
View File

@@ -244,7 +244,7 @@ SensorData CameraAREngine::captureImage(CameraInfo * info)
cv::Mat outputRGB;
if(imageData != nullptr && len>0)
{
cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)imageData), outputRGB, CV_YUV2BGR_NV21);
cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)imageData), outputRGB, cv::COLOR_YUV2BGR_NV21);
}
//Depth

2
app/android/jni/CameraMobile.cpp
View File

@@ -171,7 +171,7 @@ void CameraMobile::setData(const SensorData & data, const Transform & pose, cons
if(textureId_ != 0 && texCoord != 0)
{
cv::Mat rgbImage;
cv::cvtColor(data.imageRaw(), rgbImage, CV_BGR2RGBA);
cv::cvtColor(data.imageRaw(), rgbImage, cv::COLOR_BGR2RGBA);
glBindTexture(GL_TEXTURE_2D, textureId_);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);

14
app/android/jni/RTABMapApp.cpp
View File

@@ -635,7 +635,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
if(renderingTextureDecimation_>1)
{
cv::Size reducedSize(data.imageRaw().cols/renderingTextureDecimation_, data.imageRaw().rows/renderingTextureDecimation_);
cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, CV_INTER_LINEAR);
cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
}
else
{
@@ -1620,7 +1620,7 @@ int RTABMapApp::Render()
{
cv::Size reducedSize(textureRaw.cols/renderingTextureDecimation_, textureRaw.rows/renderingTextureDecimation_);
LOGD("resize image from %dx%d to %dx%d", textureRaw.cols, textureRaw.rows, reducedSize.width, reducedSize.height);
cv::resize(textureRaw, iter->second.texture, reducedSize, 0, 0, CV_INTER_LINEAR);
cv::resize(textureRaw, iter->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
}
else
{
@@ -1905,7 +1905,7 @@ int RTABMapApp::Render()
if(renderingTextureDecimation_ > 1)
{
cv::Size reducedSize(data.imageRaw().cols/renderingTextureDecimation_, data.imageRaw().rows/renderingTextureDecimation_);
cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, CV_INTER_LINEAR);
cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("resize image from %dx%d to %dx%d (%fs)", data.imageRaw().cols, data.imageRaw().rows, reducedSize.width, reducedSize.height, time.ticks());
#endif
@@ -2138,7 +2138,7 @@ int RTABMapApp::Render()
cv::Mat image(h, w, CV_8UC4);
glReadPixels(0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, image.data);
cv::flip(image, image, 0);
cv::cvtColor(image, image, CV_RGBA2BGRA);
cv::cvtColor(image, image, cv::COLOR_RGBA2BGRA);
cv::Mat roi;
if(w>h)
{
@@ -3773,14 +3773,14 @@ void RTABMapApp::postOdometryEvent(
cv::Mat yuv(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1);
memcpy(yuv.data, yPlane, yPlaneLen);
memcpy(yuv.data+yPlaneLen, vPlane, rgbHeight/2*rgbWidth);
cv::cvtColor(yuv, outputRGB, CV_YUV2BGR_NV21);
cv::cvtColor(yuv, outputRGB, cv::COLOR_YUV2BGR_NV21);
}
else
{
#ifdef __ANDROID__
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, CV_YUV2BGR_NV21);
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, cv::COLOR_YUV2BGR_NV21);
#else // __APPLE__
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, CV_YUV2RGB_NV21);
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, cv::COLOR_YUV2RGB_NV21);
#endif
}

2
app/android/jni/point_cloud_drawable.cpp
View File

@@ -799,7 +799,7 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
cv::Mat rgbImage;
cv::cvtColor(mesh.texture, rgbImage, CV_BGR2RGBA);
cv::cvtColor(mesh.texture, rgbImage, cv::COLOR_BGR2RGBA);
glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
//glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);