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Added support for ROS noetic and OpenCV4.0+ #567

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Added support for ROS noetic and OpenCV4.0+ #567

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24 changes: 12 additions & 12 deletions kinect2_bridge/src/kinect2_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -461,12 +461,12 @@ class Kinect2Bridge
void initCompression(const int32_t jpegQuality, const int32_t pngLevel, const bool use_png)
{
compressionParams.resize(7, 0);
compressionParams[0] = CV_IMWRITE_JPEG_QUALITY;
compressionParams[0] = cv::IMWRITE_JPEG_QUALITY;
compressionParams[1] = jpegQuality;
compressionParams[2] = CV_IMWRITE_PNG_COMPRESSION;
compressionParams[2] = cv::IMWRITE_PNG_COMPRESSION;
compressionParams[3] = pngLevel;
compressionParams[4] = CV_IMWRITE_PNG_STRATEGY;
compressionParams[5] = CV_IMWRITE_PNG_STRATEGY_RLE;
compressionParams[4] = cv::IMWRITE_PNG_STRATEGY;
compressionParams[5] = cv::IMWRITE_PNG_STRATEGY_RLE;
compressionParams[6] = 0;

if(use_png)
Expand Down Expand Up @@ -1100,11 +1100,11 @@ class Kinect2Bridge
cv::flip(color, tmp, 1);
if(colorFrame->format == libfreenect2::Frame::BGRX)
{
cv::cvtColor(tmp, images[COLOR_HD], CV_BGRA2BGR);
cv::cvtColor(tmp, images[COLOR_HD], cv::COLOR_BGR2RGB);
}
else
{
cv::cvtColor(tmp, images[COLOR_HD], CV_RGBA2BGR);
cv::cvtColor(tmp, images[COLOR_HD], cv::COLOR_BGR2RGB);
}
}

Expand Down Expand Up @@ -1180,11 +1180,11 @@ class Kinect2Bridge
cv::flip(cv::Mat(sizeIr, CV_8UC4, registered.data), tmp, 1);
if(color.format == libfreenect2::Frame::BGRX)
{
cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_BGRA2BGR);
cv::cvtColor(tmp, images[COLOR_SD_RECT], cv::COLOR_BGR2RGB);
}
else
{
cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_RGBA2BGR);
cv::cvtColor(tmp, images[COLOR_SD_RECT], cv::COLOR_BGR2RGB);
}
}

Expand Down Expand Up @@ -1247,19 +1247,19 @@ class Kinect2Bridge
// MONO
if(status[MONO_HD])
{
cv::cvtColor(images[COLOR_HD], images[MONO_HD], CV_BGR2GRAY);
cv::cvtColor(images[COLOR_HD], images[MONO_HD], cv::COLOR_BGR2RGB);
}
if(status[MONO_HD_RECT])
{
cv::cvtColor(images[COLOR_HD_RECT], images[MONO_HD_RECT], CV_BGR2GRAY);
cv::cvtColor(images[COLOR_HD_RECT], images[MONO_HD_RECT], cv::COLOR_BGR2RGB);
}
if(status[MONO_QHD])
{
cv::cvtColor(images[COLOR_QHD], images[MONO_QHD], CV_BGR2GRAY);
cv::cvtColor(images[COLOR_QHD], images[MONO_QHD], cv::COLOR_BGR2RGB);
}
if(status[MONO_QHD_RECT])
{
cv::cvtColor(images[COLOR_QHD_RECT], images[MONO_QHD_RECT], CV_BGR2GRAY);
cv::cvtColor(images[COLOR_QHD_RECT], images[MONO_QHD_RECT], cv::COLOR_BGR2RGB);
}
}

Expand Down
2 changes: 1 addition & 1 deletion kinect2_calibration/src/kinect2_calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ class Recorder
circleFlags = cv::CALIB_CB_ASYMMETRIC_GRID + cv::CALIB_CB_CLUSTERING;
}

params.push_back(CV_IMWRITE_PNG_COMPRESSION);
params.push_back(cv::IMWRITE_PNG_COMPRESSION);
params.push_back(9);

board.resize(boardDims.width * boardDims.height);
Expand Down
2 changes: 1 addition & 1 deletion kinect2_viewer/src/viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,7 +276,7 @@ class Receiver
combine(color, depthDisp, combined);
//combined = color;

cv::putText(combined, oss.str(), pos, font, sizeText, colorText, lineText, CV_AA);
cv::putText(combined, oss.str(), pos, font, sizeText, colorText, lineText, cv::LINE_AA);
cv::imshow("Image Viewer", combined);
}

Expand Down