compatible with opencv 4.2.0

README.md

@@ -1,10 +1,16 @@
-# IAI Kinect2
+# IAI Kinect2 for OpenCV 4
 
-## Maintainer
+### Maintainer of this fork
+- [Shuvo Kumar Paul](https://github.com/paul-shuvo) 
+  Email: [email protected]
+
+### Maintainer of IAI Kinect2
 
 - [Thiemo Wiedemeyer](https://ai.uni-bremen.de/team/thiemo_wiedemeyer) <<[email protected]>>, [Institute for Artificial Intelligence](http://ai.uni-bremen.de/), University of Bremen
 
-## Read this first
+## :warning: Read this first
+
+ > __This repository contains some minor changes from the original [iai_kinect2](https://github.com/code-iai/iai_kinect2) repo. Building from the original repo throws errors if you are using opencv4. This repo fixes those issues; also, if you're using any opencv version other than 4, please build from the original [repo](https://github.com/code-iai/iai_kinect2). For any difficulties open an [issue](https://github.com/paul-shuvo/iai_kinect2_opencv4/issues).__
 
 Please read this README and the ones of the individual components throughly before asking questions. We get a lot of repeated questions, so when you have a problem, we urge everyone to check the [github issues  (including closed ones)](https://github.com/code-iai/iai_kinect2/issues?utf8=%E2%9C%93&q=is%3Aissue). Your issue is very likely discussed there already.
 
@@ -121,16 +127,21 @@ If you found no solution in the issues, feel free to open a new issue for your p
 
 ## Dependencies
 
-- ROS Hydro/Indigo
-- OpenCV (2.4.x, using the one from the official Ubuntu repositories is recommended)
+- ROS Indigo/Jade/Melodic/Noetic
+- OpenCV (4.x.x, using the one from the official Ubuntu repositories is recommended)
 - PCL (1.7.x, using the one from the official Ubuntu repositories is recommended)
 - Eigen (optional, but recommended)
 - OpenCL (optional, but recommended)
 - [libfreenect2](https://github.com/OpenKinect/libfreenect2) (>= v0.2.0, for stability checkout the latest stable release)
 
+
 ## Install
 
-1. Install the ROS. [Instructions for Ubuntu 14.04](http://wiki.ros.org/indigo/Installation/Ubuntu)
+1. Install the ROS. 
+   - [Instructions for Ubuntu 14.04](http://wiki.ros.org/indigo/Installation/Ubuntu)
+   - [Instructions for Ubuntu 16.04](http://wiki.ros.org/lunar/Installation/Ubuntu)
+   - [Instructions for Ubuntu 18.04](http://wiki.ros.org/melodic/Installation/Ubuntu)
+   - [Instructions for Ubuntu 20.04](http://wiki.ros.org/noetic/Installation/Ubuntu)
 2. [Setup your ROS environment](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)
 3. Install [libfreenect2](https://github.com/OpenKinect/libfreenect2):
 
@@ -142,13 +153,16 @@ If you found no solution in the issues, feel free to open a new issue for your p
 
     ```bash
     cd ~/catkin_ws/src/
-    git clone https://github.com/code-iai/iai_kinect2.git
+    git clone https://github.com/paul-shuvo/iai_kinect2_opencv4.git
     cd iai_kinect2
     rosdep install -r --from-paths .
     cd ~/catkin_ws
     catkin_make -DCMAKE_BUILD_TYPE="Release"
     ```
 
+> If you get the following error `pcl_conversions build error: PCL requires C++14 or above`, go to your `CMakeLists.txt` in the `src` folder and add the line `set( CMAKE_CXX_STANDARD 14)`
+on the very top and rebuild.
+
    *Note: `rosdep` will output errors on not being able to locate `[kinect2_bridge]` and `[depth_registration]`.
    That is fine because they are all part of the iai_kinect2 package and `rosdep` does not know these packages.*
 

kinect2_bridge/src/kinect2_bridge.cpp

@@ -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)
@@ -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_BGRA2BGR);
       }
       else
       {
-        cv::cvtColor(tmp, images[COLOR_HD], CV_RGBA2BGR);
+        cv::cvtColor(tmp, images[COLOR_HD], cv::COLOR_RGBA2BGR);
       }
     }
 
@@ -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_BGRA2BGR);
       }
       else
       {
-        cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_RGBA2BGR);
+        cv::cvtColor(tmp, images[COLOR_SD_RECT], cv::COLOR_RGBA2BGR);
       }
     }
 
@@ -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_BGR2GRAY);
     }
     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_BGR2GRAY);
     }
     if(status[MONO_QHD])
     {
-      cv::cvtColor(images[COLOR_QHD], images[MONO_QHD], CV_BGR2GRAY);
+      cv::cvtColor(images[COLOR_QHD], images[MONO_QHD], cv::COLOR_BGR2GRAY);
     }
     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_BGR2GRAY);
     }
   }
 

kinect2_calibration/src/kinect2_calibration.cpp

@@ -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);
@@ -743,7 +743,7 @@ class CameraCalibration
 #if CV_MAJOR_VERSION == 2
     error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
                                 rotation, translation, essential, fundamental, termCriteria, cv::CALIB_FIX_INTRINSIC);
-#elif CV_MAJOR_VERSION == 3
+#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
     error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
                                 rotation, translation, essential, fundamental, cv::CALIB_FIX_INTRINSIC, termCriteria);
 #endif
@@ -1091,7 +1091,7 @@ class DepthCalibration
     //cv::solvePnP(board, points[index], cameraMatrix, distortion, rvec, translation, false, cv::EPNP);
 #if CV_MAJOR_VERSION == 2
     cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, board.size(), cv::noArray(), cv::ITERATIVE);
-#elif CV_MAJOR_VERSION == 3
+#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
     cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, 0.99, cv::noArray(), cv::SOLVEPNP_ITERATIVE);
 #endif
     cv::Rodrigues(rvec, rotation);

kinect2_viewer/src/viewer.cpp

@@ -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);
       }