Fixed compilation errors with OpenCV 4.0.0 (#309)

CMakeLists.txt

@@ -681,9 +681,9 @@ IF(VTK_USE_QVTK)
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${QVTK_LIBRARY}) 
 ENDIF(VTK_USE_QVTK)
 
-IF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
+IF(NOT (OpenCV_FOUND AND NOT (OpenCV_VERSION_MAJOR LESS 3)))
    SET(OPENCV3 "//")
-ENDIF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
+ENDIF(NOT (OpenCV_FOUND AND NOT (OpenCV_VERSION_MAJOR LESS 3)))
 CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/corelib/include/${PROJECT_PREFIX}/core/Version.h)
 
 ADD_SUBDIRECTORY( utilite )

corelib/src/CameraRGB.cpp

@@ -37,6 +37,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 
 #include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/imgproc/types_c.h>
+#include <opencv2/videoio/videoio_c.h>
 
 #include <rtabmap/core/util3d.h>
 #include <rtabmap/core/util3d_filtering.h>

corelib/src/CameraRGBD.cpp

@@ -39,6 +39,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UMath.h>
 
+#include <opencv2/imgproc/types_c.h>
+#include <opencv2/videoio/videoio_c.h>
+
 #ifdef RTABMAP_OPENNI
 #include <pcl/io/openni_grabber.h>
 #include <pcl/io/oni_grabber.h>

corelib/src/CameraStereo.cpp

@@ -39,6 +39,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UMath.h>
 
+#include <opencv2/imgproc/types_c.h>
+#include <opencv2/videoio/videoio_c.h>
+
 #ifdef RTABMAP_DC1394
 #include <dc1394/dc1394.h>
 #endif

corelib/src/Memory.cpp

@@ -61,6 +61,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/io/pcd_io.h>
 #include <pcl/common/common.h>
 #include <rtabmap/core/OccupancyGrid.h>
+#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap {
 

corelib/src/StereoDense.cpp

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/ULogger.h>
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap {
 

corelib/src/clams/discrete_depth_distortion_model_helpers.cpp

@@ -198,7 +198,7 @@ namespace clams
 
 	cv::Mat roiA(targetImage, cv::Rect( 0, 0, overview.cols/2, overview.rows ));
 	cv::Mat(overview, cv::Rect( 0, 0, overview.cols/2, overview.rows )).copyTo(roiA);
-	cv::Mat roiB( targetImage, cvRect( overview.cols/2, 0, pub.cols, pub.rows ) );
+	cv::Mat roiB( targetImage, cv::Rect( overview.cols/2, 0, pub.cols, pub.rows ) );
 	pub.copyTo(roiB);
 
     return targetImage;

corelib/src/opencv/solvepnp.h

@@ -46,6 +46,7 @@
 
 #include <opencv2/core/core.hpp>
 #include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/calib3d/calib3d_c.h>
 
 namespace cv3 {
 

corelib/src/util2d.cpp

@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/video/tracking.hpp>
 #include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/types_c.h>
 #include <map>
 #include <Eigen/Core>
 

corelib/src/util3d.cpp

@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/io/ply_io.h>
 #include <pcl/common/transforms.h>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap
 {

corelib/src/util3d_surface.cpp

@@ -37,6 +37,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UConversion.h"
 #include "rtabmap/utilite/UMath.h"
 #include "rtabmap/utilite/UTimer.h"
+#include <opencv2/core/core_c.h>
+#include <opencv2/imgproc/types_c.h>
 #include <pcl/search/kdtree.h>
 #include <pcl/surface/gp3.h>
 #include <pcl/features/normal_3d_omp.h>

guilib/src/CalibrationDialog.cpp

@@ -30,7 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <opencv2/core/core.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/imgproc/imgproc_c.h>
 #include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/calib3d/calib3d_c.h>
 #include <opencv2/highgui/highgui.hpp>
 
 #include <QFileDialog>

guilib/src/DatabaseViewer.cpp

@@ -44,6 +44,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UDirectory.h>
 #include <rtabmap/utilite/UConversion.h>
 #include <opencv2/core/core_c.h>
+#include <opencv2/imgproc/types_c.h>
 #include <opencv2/highgui/highgui.hpp>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UFile.h>

guilib/src/PreferencesDialog.cpp

@@ -190,7 +190,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 		_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
 		_ui->reextract_type->setItemData(1, 0, Qt::UserRole - 1);
 
-#if CV_MAJOR_VERSION == 3
+#if CV_MAJOR_VERSION >= 3
 		_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
 		_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
 		_ui->comboBox_detector_strategy->setItemData(3, 0, Qt::UserRole - 1);

tools/Camera/main.cpp

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UDirectory.h"
 #include "rtabmap/utilite/UConversion.h"
 #include <opencv2/highgui/highgui.hpp>
+#include <opencv2/highgui/highgui_c.h>
 #include <stdio.h>
 
 void showUsage()

tools/CameraRGBD/main.cpp

@@ -37,6 +37,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UConversion.h"
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/imgproc/types_c.h>
+#include <opencv2/videoio/videoio_c.h>
 #include <pcl/visualization/cloud_viewer.h>
 #include <stdio.h>
 #include <signal.h>

tools/ImagesJoiner/main.cpp

@@ -138,7 +138,7 @@ int main(int argc, char * argv[])
 
 			cv::Mat roiA(targetImage, cv::Rect( 0, 0, sizeA.width, sizeA.height ));
 			imageA.copyTo(roiA);
-			cv::Mat roiB( targetImage, cvRect( sizeA.width, 0, sizeB.width, sizeB.height ) );
+			cv::Mat roiB( targetImage, cv::Rect( sizeA.width, 0, sizeB.width, sizeB.height ) );
 			imageB.copyTo(roiB);
 
 			if(!cv::imwrite(targetFilePath.c_str(), targetImage))

tools/StereoEval/main.cpp

@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UMath.h>
+#include <opencv2/imgproc/types_c.h>
 #include <fstream>
 #include <string>