Compatibility for OpenCV 4.1.1

.gitignore

@@ -21,4 +21,10 @@ Vocabulary/ORBvoc.txt
 build/
 *~
 lib/
+Datasets/*
 
+FrameTrajectory_KITTI_Format.txt
+
+FrameTrajectory_TUM_Format.txt
+
+KeyFrameTrajectory_TUM_Format.txt

CMakeLists.txt

@@ -10,33 +10,33 @@ MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")
 
-# Check C++11 or C++0x support
+# Check C++14 or C++0x support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
    add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++11.")
+   message(STATUS "Using flag -std=c++14.")
 elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
    add_definitions(-DCOMPILEDWITHC0X)
    message(STATUS "Using flag -std=c++0x.")
 else()
-   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
 endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 3.0 QUIET)
+find_package(OpenCV 4.0 QUIET)
 if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)
    if(NOT OpenCV_FOUND)
       message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
    endif()
 endif()
 
-find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Eigen3 3.1.0 REQUIRED NO_MODULE)
 find_package(Pangolin REQUIRED)
 
 include_directories(

Examples/Monocular/mono_euroc.cc

@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include "unistd.h"
 
 #include<opencv2/core/core.hpp>
 
@@ -70,7 +71,7 @@ int main(int argc, char **argv)
     for(int ni=0; ni<nImages; ni++)
     {
         // Read image from file
-        im = cv::imread(vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED);
+        im = cv::imread(vstrImageFilenames[ni],cv::IMREAD_UNCHANGED);
         double tframe = vTimestamps[ni];
 
         if(im.empty())

Examples/Monocular/mono_kitti.cc

@@ -24,6 +24,7 @@
 #include<fstream>
 #include<chrono>
 #include<iomanip>
+#include "unistd.h"
 
 #include<opencv2/core/core.hpp>
 
@@ -65,7 +66,7 @@ int main(int argc, char **argv)
     for(int ni=0; ni<nImages; ni++)
     {
         // Read image from file
-        im = cv::imread(vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED);
+        im = cv::imread(vstrImageFilenames[ni],cv::IMREAD_UNCHANGED);
         double tframe = vTimestamps[ni];
 
         if(im.empty())

Examples/Monocular/mono_tum.cc

@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include "unistd.h"
 
 #include<opencv2/core/core.hpp>
 
@@ -65,7 +66,7 @@ int main(int argc, char **argv)
     for(int ni=0; ni<nImages; ni++)
     {
         // Read image from file
-        im = cv::imread(string(argv[3])+"/"+vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED);
+        im = cv::imread(string(argv[3])+"/"+vstrImageFilenames[ni],cv::IMREAD_UNCHANGED);
         double tframe = vTimestamps[ni];
 
         if(im.empty())

Examples/RGB-D/rgbd_tum.cc

@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include "unistd.h"
 
 #include<opencv2/core/core.hpp>
 
@@ -77,8 +78,8 @@ int main(int argc, char **argv)
     for(int ni=0; ni<nImages; ni++)
     {
         // Read image and depthmap from file
-        imRGB = cv::imread(string(argv[3])+"/"+vstrImageFilenamesRGB[ni],CV_LOAD_IMAGE_UNCHANGED);
-        imD = cv::imread(string(argv[3])+"/"+vstrImageFilenamesD[ni],CV_LOAD_IMAGE_UNCHANGED);
+        imRGB = cv::imread(string(argv[3])+"/"+vstrImageFilenamesRGB[ni],cv::IMREAD_UNCHANGED);
+        imD = cv::imread(string(argv[3])+"/"+vstrImageFilenamesD[ni],cv::IMREAD_UNCHANGED);
         double tframe = vTimestamps[ni];
 
         if(imRGB.empty())

Examples/ROS/ORB_SLAM2/CMakeLists.txt

@@ -12,33 +12,33 @@ MESSAGE("Build type: " ${ROS_BUILD_TYPE})
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
 
-# Check C++11 or C++0x support
+# Check C++14 or C++0x support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-   add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++11.")
+if(COMPILER_SUPPORTS_CXX14)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+   add_definitions(-DCOMPILEDWITHC14)
+   message(STATUS "Using flag -std=c++14.")
 elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
    add_definitions(-DCOMPILEDWITHC0X)
    message(STATUS "Using flag -std=c++0x.")
 else()
-   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
 endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)
 
-find_package(OpenCV 3.0 QUIET)
+find_package(OpenCV 4.0 QUIET)
 if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)
    if(NOT OpenCV_FOUND)
       message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
    endif()
 endif()
 
-find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Eigen3 3.1.0 REQUIRED NO_MODULE)
 find_package(Pangolin REQUIRED)
 
 include_directories(
@@ -55,6 +55,7 @@ ${Pangolin_LIBRARIES}
 ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
 ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
 ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
+-lboost_system
 )
 
 # Node for monocular camera

Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc

@@ -19,6 +19,7 @@
 */
 
 #include "ViewerAR.h"
+#include "unistd.h"
 
 #include <opencv2/highgui/highgui.hpp>
 

Examples/ROS/ORB_SLAM2/src/AR/ros_mono_ar.cc

@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include "unistd.h"
 
 #include<ros/ros.h>
 #include <cv_bridge/cv_bridge.h>

Examples/ROS/ORB_SLAM2/src/ros_mono.cc

@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include "unistd.h" //<- Added later
 
 #include<ros/ros.h>
 #include <cv_bridge/cv_bridge.h>
@@ -61,7 +62,7 @@ int main(int argc, char **argv)
     ImageGrabber igb(&SLAM);
 
     ros::NodeHandle nodeHandler;
-    ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);
+    ros::Subscriber sub = nodeHandler.subscribe("/zed2/zed_node/rgb/image_rect_color", 1, &ImageGrabber::GrabImage,&igb);
 
     ros::spin();
 

Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc

@@ -23,7 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
-
+#include "unistd.h"
 #include<ros/ros.h>
 #include <cv_bridge/cv_bridge.h>
 #include <message_filters/subscriber.h>
@@ -65,8 +65,10 @@ int main(int argc, char **argv)
 
     ros::NodeHandle nh;
 
-    message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/camera/rgb/image_raw", 1);
-    message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "camera/depth_registered/image_raw", 1);
+    //message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/camera/rgb/image_raw", 1);
+    //message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "camera/depth_registered/image_raw", 1);
+    message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/zed2/zed_node/rgb/image_rect_color", 1);
+    message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "/zed2/zed_node/depth/depth_registered", 1);
     typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
     message_filters::Synchronizer<sync_pol> sync(sync_pol(10), rgb_sub,depth_sub);
     sync.registerCallback(boost::bind(&ImageGrabber::GrabRGBD,&igb,_1,_2));
@@ -108,7 +110,9 @@ void ImageGrabber::GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const senso
         ROS_ERROR("cv_bridge exception: %s", e.what());
         return;
     }
-
+    //< remap from="/camera/aligned_depth_to_color/image_raw"to="/camera/depth_registered/image_raw" />
+    //< remap from="/camera/color/image_raw" to="/camera/rgb/image_raw" />
+
     mpSLAM->TrackRGBD(cv_ptrRGB->image,cv_ptrD->image,cv_ptrRGB->header.stamp.toSec());
 }
 

Examples/ROS/ORB_SLAM2/src/ros_stereo.cc

@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include "unistd.h"
 
 #include<ros/ros.h>
 #include <cv_bridge/cv_bridge.h>
@@ -109,8 +110,10 @@ int main(int argc, char **argv)
 
     ros::NodeHandle nh;
 
-    message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/camera/left/image_raw", 1);
-    message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "camera/right/image_raw", 1);
+    //message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/camera/left/image_raw", 1);
+    //message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "camera/right/image_raw", 1);
+    message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/zed2/zed_node/left/image_rect_color", 1);
+    message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/zed2/zed_node/right/image_rect_color", 1);
     typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
     message_filters::Synchronizer<sync_pol> sync(sync_pol(10), left_sub,right_sub);
     sync.registerCallback(boost::bind(&ImageGrabber::GrabStereo,&igb,_1,_2));

Examples/Stereo/stereo_euroc.cc

@@ -24,6 +24,7 @@
 #include<fstream>
 #include<iomanip>
 #include<chrono>
+#include "unistd.h"
 
 #include<opencv2/core/core.hpp>
 
@@ -116,8 +117,8 @@ int main(int argc, char **argv)
     for(int ni=0; ni<nImages; ni++)
     {
         // Read left and right images from file
-        imLeft = cv::imread(vstrImageLeft[ni],CV_LOAD_IMAGE_UNCHANGED);
-        imRight = cv::imread(vstrImageRight[ni],CV_LOAD_IMAGE_UNCHANGED);
+        imLeft = cv::imread(vstrImageLeft[ni],cv::IMREAD_UNCHANGED);
+        imRight = cv::imread(vstrImageRight[ni],cv::IMREAD_UNCHANGED);
 
         if(imLeft.empty())
         {

Examples/Stereo/stereo_kitti.cc

@@ -24,6 +24,7 @@
 #include<fstream>
 #include<iomanip>
 #include<chrono>
+#include "unistd.h"
 
 #include<opencv2/core/core.hpp>
 
@@ -66,8 +67,8 @@ int main(int argc, char **argv)
     for(int ni=0; ni<nImages; ni++)
     {
         // Read left and right images from file
-        imLeft = cv::imread(vstrImageLeft[ni],CV_LOAD_IMAGE_UNCHANGED);
-        imRight = cv::imread(vstrImageRight[ni],CV_LOAD_IMAGE_UNCHANGED);
+        imLeft = cv::imread(vstrImageLeft[ni],cv::IMREAD_UNCHANGED);
+        imRight = cv::imread(vstrImageRight[ni],cv::IMREAD_UNCHANGED);
         double tframe = vTimestamps[ni];
 
         if(imLeft.empty())