removed not needed opencv c api

corelib/src/camera/CameraImages.cpp

@@ -34,11 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/util3d.h>
 #include <rtabmap/core/util3d_filtering.h>
 #include <rtabmap/core/Graph.h>
-#if CV_MAJOR_VERSION < 5
-#include <opencv2/imgproc/imgproc.hpp>
-#else
 #include <opencv2/imgproc.hpp>
-#endif
 #include <fstream>
 
 namespace rtabmap

corelib/src/camera/CameraOpenNICV.cpp

@@ -26,11 +26,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/camera/CameraOpenNICV.h>
 #include <rtabmap/utilite/UTimer.h>
-#if CV_MAJOR_VERSION >= 5
 #include <opencv2/videoio.hpp>
-#elif CV_MAJOR_VERSION > 3
-#include <opencv2/videoio/videoio_c.h>
-#endif
 
 namespace rtabmap
 {

corelib/src/camera/CameraStereoTara.cpp

@@ -34,11 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/utilite/UConversion.h>
-#if CV_MAJOR_VERSION > 4
 #include <opencv2/videoio.hpp>
-#elif CV_MAJOR_VERSION > 3
-#include <opencv2/videoio/videoio_c.h>
-#endif
 
 namespace rtabmap
 {
@@ -83,7 +79,7 @@ bool CameraStereoTara::init(const std::string & calibrationFolder, const std::st
 
 		capture_.open(usbDevice_);
 
-		capture_.set(cv::CAP_PROP_FOURCC, CV_FOURCC('Y', '1', '6', ' '));
+		capture_.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('Y', '1', '6', ' '));
 		capture_.set(cv::CAP_PROP_FPS, 60);
 		capture_.set(cv::CAP_PROP_FRAME_WIDTH, 752);
 		capture_.set(cv::CAP_PROP_FRAME_HEIGHT, 480);

corelib/src/camera/CameraStereoVideo.cpp

@@ -28,11 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraStereoVideo.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UConversion.h>
-#if CV_MAJOR_VERSION > 4
 #include <opencv2/videoio.hpp>
-#elif CV_MAJOR_VERSION > 3
-#include <opencv2/videoio/videoio_c.h>
-#endif
 
 namespace rtabmap
 {

corelib/src/camera/CameraVideo.cpp

@@ -28,11 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraVideo.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UConversion.h>
-#if CV_MAJOR_VERSION > 4
 #include <opencv2/videoio.hpp>
-#elif CV_MAJOR_VERSION > 3
-#include <opencv2/videoio/videoio_c.h>
-#endif
 
 namespace rtabmap
 {

corelib/src/opencv/Orb.cpp

@@ -40,7 +40,6 @@
 
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
-#include "opencv2/imgproc/imgproc_c.h"
 #include <algorithm>
 #include <iterator>
 
@@ -252,7 +251,7 @@ static void computeOrbDescriptor(const KeyPoint& kpt,
         }
     }
     else
-        CV_Error( CV_StsBadSize, "Wrong WTA_K. It can be only 2, 3 or 4." );
+        CV_Error( cv::Error::StsBadSize, "Wrong WTA_K. It can be only 2, 3 or 4." );
 
     #undef GET_VALUE
 }

corelib/src/opencv/solvepnp.cpp

@@ -213,11 +213,7 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
 int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters )
 {
     if( modelPoints <= 0 )
-#if CV_MAJOR_VERSION < 5
-        CV_Error( 0, "the number of model points should be positive" );
-#else
         CV_Error( cv::Error::Code::StsBadArg, "the number of model points should be positive" );
-#endif
 
     p = MAX(p, 0.);
     p = MIN(p, 1.);

corelib/src/opencv/solvepnp.h

@@ -49,9 +49,6 @@
 #include <opencv2/geometry.hpp>
 #else
 #include <opencv2/calib3d/calib3d.hpp>
-#if CV_MAJOR_VERSION >= 3
-#include <opencv2/calib3d/calib3d_c.h>
-#endif
 #endif
 
 namespace cv3 {

guilib/src/CalibrationDialog.cpp

@@ -36,9 +36,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opencv2/geometry.hpp>
 #else
 #include <opencv2/calib3d/calib3d.hpp>
-#if CV_MAJOR_VERSION >= 3
-#include <opencv2/calib3d/calib3d_c.h>
-#endif
 #endif
 #include <opencv2/highgui/highgui.hpp>
 #if (CV_MAJOR_VERSION > 2 and CV_MAJOR_VERSION < 5) or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))

tools/CameraRGBD/main.cpp

@@ -40,11 +40,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UEventsManager.h"
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
-#if CV_MAJOR_VERSION >= 5
-#include <opencv2/videoio.hpp>
-#elif CV_MAJOR_VERSION >= 3
-#include <opencv2/videoio/videoio_c.h>
-#endif
 #include <pcl/visualization/cloud_viewer.h>
 #include <stdio.h>
 #include <signal.h>