Simplify and fixes for opencv5

apps/benchmarking-image-features/src/visual_odometry.cpp

@@ -240,16 +240,16 @@ VisualOdometry::VisualOdometry()
  *					    Generate VO main funciton *
  ************************************************************************************************/
 Mat VisualOdometry::generateVO(
-	CFeatureExtraction fext, int numFeats,
+	CFeatureExtraction fExt, int NumFeats,
 	std::array<std::string, 3> file_paths, int feat_type)
 {
 	string dataset = file_paths[0];
 	string groundtruth = file_paths[1];
 	string calibration_file = file_paths[2];
 	cnt.setValue(0);
 	// this->detector_selected = detector_selected;
-	this->fext = fext;
-	this->numFeats = numFeats;
+	this->fext = fExt;
+	this->numFeats = NumFeats;
 	Mat img_1, img_2;
 	Mat R_f, t_f;  // the final rotation and tranlation vectors containing the
 	// transform
@@ -318,9 +318,9 @@ Mat VisualOdometry::generateVO(
 	// double focal = 718.8560;
 	// cv::Point2d pp(607.1928, 185.2157);
 	// recovering the pose and the essential matrix
-	Mat E, R, t, mask;
-	E = findEssentialMat(points2, points1, focal, pp, RANSAC, 0.999, 1.0, mask);
-	recoverPose(E, points2, points1, R, t, focal, pp, mask);
+	Mat E, R, t;
+	E = findEssentialMat(points2, points1, focal, pp);
+	cv::recoverPose(E, points2, points1, R, t, focal, pp);
 
 	Mat prevImage = img_2;
 	Mat currImage;
@@ -354,13 +354,12 @@ Mat VisualOdometry::generateVO(
 		img3.loadFromFile(filename);
 
 		cvtColor(currImage_c, currImage, COLOR_BGR2GRAY);
-		vector<uchar> status;
+		vector<uchar> Status;
 		featureTracking(
-			prevImage, currImage, prevFeatures, currFeatures, status);
+			prevImage, currImage, prevFeatures, currFeatures, Status);
 
-		E = findEssentialMat(
-			currFeatures, prevFeatures, focal, pp, RANSAC, 0.999, 1.0, mask);
-		recoverPose(E, currFeatures, prevFeatures, R, t, focal, pp, mask);
+		E = findEssentialMat(currFeatures, prevFeatures, focal, pp, RANSAC);
+		recoverPose(E, currFeatures, prevFeatures, R, t, focal, pp);
 
 		Mat prevPts(2, prevFeatures.size(), CV_64F),
 			currPts(2, currFeatures.size(), CV_64F);
@@ -394,7 +393,7 @@ Mat VisualOdometry::generateVO(
 		{
 			featureDetection(img3, prevFeatures, feat_type);
 			featureTracking(
-				prevImage, currImage, prevFeatures, currFeatures, status);
+				prevImage, currImage, prevFeatures, currFeatures, Status);
 		}
 
 		prevImage = currImage.clone();

apps/camera-calib/CDlgCalibWizardOnline.cpp

@@ -135,13 +135,6 @@ CDlgCalibWizardOnline::CDlgCalibWizardOnline(
 	StaticBoxSizer4->Add(FlexGridSizer17, 1, wxEXPAND, 0);
 	FlexGridSizer6->Add(
 		StaticBoxSizer4, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 2);
-	wxString __wxRadioBoxChoices_1[2] = {
-		_("OpenCV\'s default"), _("Scaramuzza et al.\'s")};
-	rbMethod = new wxRadioBox(
-		this, ID_RADIOBOX1, _(" Detector method: "), wxDefaultPosition,
-		wxDefaultSize, 2, __wxRadioBoxChoices_1, 1, 0, wxDefaultValidator,
-		_T("ID_RADIOBOX1"));
-	FlexGridSizer6->Add(rbMethod, 1, wxEXPAND, 2);
 	StaticBoxSizer5 =
 		new wxStaticBoxSizer(wxHORIZONTAL, this, _(" Size of quads (in mm): "));
 	FlexGridSizer18 = new wxFlexGridSizer(1, 4, 0, 0);
@@ -352,8 +345,6 @@ void CDlgCalibWizardOnline::OntimCaptureTrigger(wxTimerEvent& event)
 		m_check_size_x = this->edSizeX->GetValue();
 		m_check_size_y = this->edSizeY->GetValue();
 		m_normalize_image = this->cbNormalize->GetValue();
-		m_useScaramuzzaAlternativeDetector =
-			this->rbMethod->GetSelection() == 1;
 
 		CObservation::Ptr obs = m_video->getNextFrame();
 		ASSERT_(obs);
@@ -524,8 +515,7 @@ void CDlgCalibWizardOnline::threadProcessCorners()
 					bool foundCorners = mrpt::vision::findChessboardCorners(
 						obj->m_threadImgToProcess->image, obj->m_threadResults,
 						obj->m_check_size_x, obj->m_check_size_y,
-						obj->m_normalize_image,
-						obj->m_useScaramuzzaAlternativeDetector);
+						obj->m_normalize_image);
 
 					// cout << "corners: " << obj->m_threadResults.size() <<
 					// endl;

apps/camera-calib/CDlgCalibWizardOnline.h

@@ -45,7 +45,6 @@ class CDlgCalibWizardOnline : public wxDialog
 	wxTextCtrl* edLengthY;
 	wxButton* btnClose;
 	wxCheckBox* cbNormalize;
-	wxRadioBox* rbMethod;
 	mrpt::gui::wxMRPTImageControl* m_realtimeview;
 	wxSpinCtrl* edSizeY;
 	wxStaticText* StaticText1;
@@ -118,7 +117,6 @@ class CDlgCalibWizardOnline : public wxDialog
 	unsigned int m_check_size_x;
 	unsigned int m_check_size_y;
 	bool m_normalize_image;
-	bool m_useScaramuzzaAlternativeDetector;
 
 	mrpt::hwdrivers::CCameraSensor::Ptr m_video;
 

apps/camera-calib/CDlgPoseEst.cpp

@@ -146,13 +146,6 @@ CDlgPoseEst::CDlgPoseEst(
 	StaticBoxSizer4->Add(FlexGridSizer17, 1, wxEXPAND, 0);
 	FlexGridSizer6->Add(
 		StaticBoxSizer4, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 2);
-	wxString __wxRadioBoxChoices_1[2] = {
-		_("OpenCV\'s default"), _("Scaramuzza et al.\'s")};
-	rbMethod = new wxRadioBox(
-		this, ID_RADIOBOX1, _(" Detector method: "), wxDefaultPosition,
-		wxDefaultSize, 2, __wxRadioBoxChoices_1, 1, 0, wxDefaultValidator,
-		_T("ID_RADIOBOX1"));
-	FlexGridSizer6->Add(rbMethod, 1, wxEXPAND, 2);
 	StaticBoxSizer5 =
 		new wxStaticBoxSizer(wxHORIZONTAL, this, _(" Size of quads (in mm): "));
 	FlexGridSizer18 = new wxFlexGridSizer(1, 4, 0, 0);
@@ -411,8 +404,6 @@ void CDlgPoseEst::OntimCaptureTrigger(wxTimerEvent& event)
 		m_check_size_y = this->edSizeY->GetValue();
 
 		m_normalize_image = this->cbNormalize->GetValue();
-		m_useScaramuzzaAlternativeDetector =
-			this->rbMethod->GetSelection() == 1;
 
 		CObservation::Ptr obs = m_video->getNextFrame();
 		ASSERT_(obs);
@@ -531,8 +522,7 @@ void CDlgPoseEst::threadProcessCorners()
 					bool foundCorners = mrpt::vision::findChessboardCorners(
 						obj->m_threadImgToProcess->image, obj->m_threadResults,
 						obj->m_check_size_x, obj->m_check_size_y,
-						obj->m_normalize_image,
-						obj->m_useScaramuzzaAlternativeDetector);
+						obj->m_normalize_image);
 
 					if (!foundCorners) obj->m_threadResults.clear();
 					else

apps/camera-calib/CDlgPoseEst.h

@@ -56,7 +56,6 @@ class CDlgPoseEst : public wxDialog
 	wxTextCtrl* edLengthY;
 	wxButton* btnClose;
 	wxCheckBox* cbNormalize;
-	wxRadioBox* rbMethod;
 	mrpt::gui::wxMRPTImageControl* m_realtimeview;
 	wxSpinCtrl* edSizeY;
 	wxStaticText* StaticText1;
@@ -132,7 +131,6 @@ class CDlgPoseEst : public wxDialog
 	unsigned int m_check_size_x;
 	unsigned int m_check_size_y;
 	bool m_normalize_image;
-	bool m_useScaramuzzaAlternativeDetector;
 	mrpt::hwdrivers::CCameraSensor::Ptr m_video;
 	CMyGLCanvas* m_3Dview_cam;
 	mrpt::vision::pnp::CPnP pnp_algos;

apps/camera-calib/camera_calib_guiMain.cpp

@@ -268,13 +268,6 @@ camera_calib_guiDialog::camera_calib_guiDialog(wxWindow* parent, wxWindowID id)
 	StaticBoxSizer4->Add(FlexGridSizer17, 1, wxEXPAND, 0);
 	FlexGridSizer6->Add(
 		StaticBoxSizer4, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 2);
-	wxString __wxRadioBoxChoices_1[2] = {
-		_("OpenCV\'s default"), _("Scaramuzza et al.\'s")};
-	rbMethod = new wxRadioBox(
-		this, ID_RADIOBOX1, _(" Detector method: "), wxDefaultPosition,
-		wxDefaultSize, 2, __wxRadioBoxChoices_1, 0, 0, wxDefaultValidator,
-		_T("ID_RADIOBOX1"));
-	FlexGridSizer6->Add(rbMethod, 1, wxEXPAND, 2);
 	StaticBoxSizer5 =
 		new wxStaticBoxSizer(wxHORIZONTAL, this, _(" Size of quads (in mm): "));
 	FlexGridSizer18 = new wxFlexGridSizer(1, 4, 0, 0);
@@ -604,16 +597,13 @@ void camera_calib_guiDialog::OnbtnRunCalibClick(wxCommandEvent& event)
 
 		const bool normalize_image = cbNormalize->GetValue();
 
-		const bool useScaramuzzaAlternativeDetector =
-			rbMethod->GetSelection() == 1;
-
 		wxBusyCursor waitcur;
 
 		bool res = mrpt::vision::checkerBoardCameraCalibration(
 			lst_images, check_size_x, check_size_y,
 			check_squares_length_X_meters, check_squares_length_Y_meters,
 			camera_params, normalize_image, nullptr /* MSE */,
-			false /* skip draw */, useScaramuzzaAlternativeDetector);
+			false /* skip draw */);
 
 		refreshDisplayedImage();
 

apps/camera-calib/camera_calib_guiMain.h

@@ -95,7 +95,6 @@ class camera_calib_guiDialog : public wxDialog
 	wxTextCtrl* edLengthX;
 	CMyGLCanvas* m_3Dview;
 	wxNotebook* Notebook1;
-	wxRadioBox* rbMethod;
 	wxButton* btnSave;
 	wxButton* btnAbout;
 	wxStaticText* StaticText2;

doc/source/doxygen-docs/changelog.md

@@ -4,8 +4,11 @@
 - Changes in libraries:
   - \ref mrpt_maps_grp:
     - mrpt::maps::CHeightGridMap2D: now supports integrating any point-cloud observation.
+  - \ref mrpt_vision_grp:
+    - Remove functions that were problematic with opencv 5: mrpt::vision::findMultipleChessboardsCorners()
 - Others:
   - Fix Debian appstream warnings on mrpt-apps.
+  - Fix build against opencv 5.
 
 # Version 2.11.9: Released Feb 11th, 2024
 - Changes in libraries:

doc/source/examples.rst

@@ -140,6 +140,5 @@ Python examples are `here <python_examples.html>`_.
   page_vision_create_video_file_example.rst
   page_vision_feature_extraction.rst
   page_vision_keypoint_matching_example.rst
-  page_vision_multiple_checkerboards.rst
   page_vision_stereo_calib_example.rst
   page_vision_stereo_rectify.rst

libs/hwdrivers/include/mrpt/hwdrivers/CImageGrabber_OpenCV.h

@@ -20,11 +20,11 @@ namespace mrpt::hwdrivers
 enum TCameraType
 {
 	CAMERA_CV_AUTODETECT = 0,
-	CAMERA_CV_DC1394,
-	CAMERA_CV_VFL,
-	CAMERA_CV_VFW,
-	CAMERA_CV_MIL,
-	CAMERA_CV_DSHOW
+	CAMERA_CV_DC1394 = 1,
+	CAMERA_CV_VFL = 2,
+	// CAMERA_CV_VFW = 3, // removed feb-2024
+	// CAMERA_CV_MIL = 4, // removed feb-2024
+	CAMERA_CV_DSHOW = 5
 };
 
 /** Options used when creating an OpenCV capture object
@@ -109,7 +109,5 @@ MRPT_ENUM_TYPE_BEGIN(mrpt::hwdrivers::TCameraType)
 MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_AUTODETECT);
 MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_DC1394);
 MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_VFL);
-MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_VFW);
-MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_MIL);
 MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_DSHOW);
 MRPT_ENUM_TYPE_END()

libs/hwdrivers/src/CImageGrabber_OpenCV.cpp

@@ -45,12 +45,10 @@ CImageGrabber_OpenCV::CImageGrabber_OpenCV(
 	int cv_cap_indx = 0;
 	switch (cameraType)
 	{
-		case CAMERA_CV_AUTODETECT: cv_cap_indx = CV_CAP_ANY; break;
-		case CAMERA_CV_DC1394: cv_cap_indx = CV_CAP_DC1394; break;
-		case CAMERA_CV_VFL: cv_cap_indx = CV_CAP_V4L; break;
-		case CAMERA_CV_VFW: cv_cap_indx = CV_CAP_VFW; break;
-		case CAMERA_CV_MIL: cv_cap_indx = CV_CAP_MIL; break;
-		case CAMERA_CV_DSHOW: cv_cap_indx = CV_CAP_DSHOW; break;
+		case CAMERA_CV_AUTODETECT: cv_cap_indx = cv::CAP_ANY; break;
+		case CAMERA_CV_DC1394: cv_cap_indx = cv::CAP_DC1394; break;
+		case CAMERA_CV_VFL: cv_cap_indx = cv::CAP_V4L; break;
+		case CAMERA_CV_DSHOW: cv_cap_indx = cv::CAP_DSHOW; break;
 		default: THROW_EXCEPTION_FMT("Invalid camera type: %i", cameraType);
 	}
 
@@ -71,7 +69,7 @@ CImageGrabber_OpenCV::CImageGrabber_OpenCV(
 	// Global settings
 	if (options.gain != 0)
 	{
-		if (!m_capture->cap.set(CV_CAP_PROP_GAIN, options.gain))
+		if (!m_capture->cap.set(cv::CAP_PROP_GAIN, options.gain))
 			cerr << "[CImageGrabber_OpenCV] Warning: Could not set the "
 					"capturing gain property!"
 				 << endl;
@@ -109,7 +107,7 @@ CImageGrabber_OpenCV::CImageGrabber_OpenCV(
 
 			if (cvMode1394 > 0)
 			{
-				if (!m_capture->cap.set(CV_CAP_PROP_MODE, cvMode1394))
+				if (!m_capture->cap.set(cv::CAP_PROP_MODE, cvMode1394))
 					cerr << "[CImageGrabber_OpenCV] Warning: Could not set the "
 							"capturing mode "
 						 << cvMode1394 << " property!" << endl;
@@ -126,23 +124,23 @@ CImageGrabber_OpenCV::CImageGrabber_OpenCV(
 		//	cerr << "[CImageGrabber_OpenCV] Warning: Could not set the RGB
 		// conversion property!" << endl;
 
-		if (!m_capture->cap.set(CV_CAP_PROP_FPS, options.ieee1394_fps))
+		if (!m_capture->cap.set(cv::CAP_PROP_FPS, options.ieee1394_fps))
 			cerr << "[CImageGrabber_OpenCV] Warning: Could not set the fps "
 					"property!"
 				 << endl;
 	}
 
 	// Settings only for V4L
 	if (cameraType == CAMERA_CV_AUTODETECT || cameraType == CAMERA_CV_VFL ||
-		cameraType == CAMERA_CV_VFW || cameraType == CAMERA_CV_DSHOW)
+		cameraType == CAMERA_CV_DSHOW)
 	{
 		if (options.frame_width != 0 && options.frame_height != 0)
 		{
 			// First set width then height. The first command always returns a
 			// error!
-			m_capture->cap.set(CV_CAP_PROP_FRAME_WIDTH, options.frame_width);
+			m_capture->cap.set(cv::CAP_PROP_FRAME_WIDTH, options.frame_width);
 			if (!m_capture->cap.set(
-					CV_CAP_PROP_FRAME_HEIGHT, options.frame_height))
+					cv::CAP_PROP_FRAME_HEIGHT, options.frame_height))
 				cerr << "[CImageGrabber_OpenCV] Warning: Could not set the "
 						"frame width & height property!"
 					 << endl;

libs/vision/include/mrpt/vision/chessboard_camera_calib.h

@@ -78,8 +78,6 @@ using TCalibrationImageList = std::map<std::string, TImageCalibData>;
  * reprojection will be stored here (in pixel units).
  * \param skipDrawDetectedImgs [IN] Whether to skip the generation of the
  * undistorted and detected images in each TImageCalibData
- * \param useScaramuzzaAlternativeDetector [IN] Whether to use an alternative
- * detector. See CImage::findChessboardCorners for more deatails and references.
  * \sa The <a href="http://www.mrpt.org/Application:camera-calib-gui"
  * >camera-calib-gui application</a> is a user-friendly GUI to this class.
  * \return false on any error (more info will be dumped to cout), or true on
@@ -91,8 +89,7 @@ bool checkerBoardCameraCalibration(
 	unsigned int check_size_y, double check_squares_length_X_meters,
 	double check_squares_length_Y_meters, mrpt::img::TCamera& out_camera_params,
 	bool normalize_image = true, double* out_MSE = nullptr,
-	bool skipDrawDetectedImgs = false,
-	bool useScaramuzzaAlternativeDetector = false);
+	bool skipDrawDetectedImgs = false);
 
 /** \overload with matrix of intrinsic params instead of mrpt::img::TCamera
  */
@@ -102,8 +99,7 @@ bool checkerBoardCameraCalibration(
 	double check_squares_length_Y_meters,
 	mrpt::math::CMatrixDouble33& intrinsicParams,
 	std::vector<double>& distortionParams, bool normalize_image = true,
-	double* out_MSE = nullptr, bool skipDrawDetectedImgs = false,
-	bool useScaramuzzaAlternativeDetector = false);
+	double* out_MSE = nullptr, bool skipDrawDetectedImgs = false);
 
 /** @}  */	// end of grouping
 }  // namespace mrpt::vision

libs/vision/include/mrpt/vision/chessboard_find_corners.h

@@ -47,57 +47,16 @@ namespace mrpt::vision
  * \param check_size_x [IN] The number of squares, in the X direction
  * \param check_size_y [IN] The number of squares, in the Y direction
  * \param normalize_image [IN] Whether to normalize the image before detection
- * \param useScaramuzzaMethod [IN] Whether to use the alternative, more robust
- *method by M. Rufli, D. Scaramuzza, and R. Siegwart.
  *
  * \return true on success
  *
- * \sa findMultipleChessboardsCorners,
- *mrpt::vision::checkerBoardCameraCalibration, drawChessboardCorners
+ * \sa mrpt::vision::checkerBoardCameraCalibration, drawChessboardCorners
  */
 bool findChessboardCorners(
 	const mrpt::img::CImage& img,
 	std::vector<mrpt::img::TPixelCoordf>& cornerCoords,
 	unsigned int check_size_x, unsigned int check_size_y,
-	bool normalize_image = true, bool useScaramuzzaMethod = false);
-
-/** Look for the corners of one or more chessboard/checkerboards in the image.
- *  This method uses an improved version of OpenCV's cvFindChessboardCorners
- *published
- *   by M. Rufli, D. Scaramuzza, and R. Siegwart. See:
- *http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm
- *    and the papers:
- *		- 1. Scaramuzza, D., Martinelli, A. and Siegwart, R. (2006), A Toolbox
- *for
- *Easily Calibrating Omnidirectional Cameras, Proceedings of the IEEE/RSJ
- *International Conference on Intelligent Robots and Systems  (IROS 2006),
- *Beijing, China, October 2006.
- *		- 2. Scaramuzza, D., Martinelli, A. and Siegwart, R., (2006). "A
- *Flexible
- *Technique for Accurate Omnidirectional Camera Calibration and Structure from
- *Motion", Proceedings of IEEE International Conference of Vision Systems
- *(ICVS'06), New York, January 5-7, 2006.
- *		- 3. Rufli, M., Scaramuzza, D., and Siegwart, R. (2008), Automatic
- *Detection of Checkerboards on Blurred and Distorted Images, Proceedings of
- *the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
- *2008), Nice, France, September 2008.
- *
- *  That method has been extended in this MRPT implementation to automatically
- *detect a
- *   number of different checkerboards in the same image.
- *
- * \param cornerCoords [OUT] A vector of N vectors of pixel coordinates, for
- *each of the N chessboards detected.
- * \param check_size_x [IN] The number of squares, in the X direction
- * \param check_size_y [IN] The number of squares, in the Y direction
- *
- *
- * \sa mrpt::vision::checkerBoardCameraCalibration, drawChessboardCorners
- */
-void findMultipleChessboardsCorners(
-	const mrpt::img::CImage& img,
-	std::vector<std::vector<mrpt::img::TPixelCoordf>>& cornerCoords,
-	unsigned int check_size_x, unsigned int check_size_y);
+	bool normalize_image = true);
 
 /** @} */
 }  // namespace mrpt::vision