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support opencv440 #1107

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support opencv440 #1107

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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ 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)
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3 changes: 2 additions & 1 deletion Examples/Monocular/mono_euroc.cc
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Expand Up @@ -70,7 +70,8 @@ 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_LOAD_IMAGE_UNCHANGED);
im = cv::imread(vstrImageFilenames[ni],cv::IMREAD_UNCHANGED);
double tframe = vTimestamps[ni];

if(im.empty())
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2 changes: 1 addition & 1 deletion Examples/Monocular/mono_kitti.cc
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Expand Up @@ -65,7 +65,7 @@ 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())
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2 changes: 1 addition & 1 deletion Examples/Monocular/mono_tum.cc
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Expand Up @@ -65,7 +65,7 @@ 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())
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4 changes: 2 additions & 2 deletions Examples/RGB-D/rgbd_tum.cc
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Expand Up @@ -77,8 +77,8 @@ 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())
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4 changes: 2 additions & 2 deletions Examples/Stereo/stereo_euroc.cc
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Expand Up @@ -116,8 +116,8 @@ 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())
{
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4 changes: 2 additions & 2 deletions Examples/Stereo/stereo_kitti.cc
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Expand Up @@ -66,8 +66,8 @@ 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())
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2 changes: 1 addition & 1 deletion Thirdparty/DBoW2/CMakeLists.txt
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Expand Up @@ -24,7 +24,7 @@ set(SRCS_DUTILS
DUtils/Random.cpp
DUtils/Timestamp.cpp)

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)
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1 change: 1 addition & 0 deletions include/LocalMapping.h
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Expand Up @@ -26,6 +26,7 @@
#include "LoopClosing.h"
#include "Tracking.h"
#include "KeyFrameDatabase.h"
#include <unistd.h>

#include <mutex>

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5 changes: 4 additions & 1 deletion include/LoopClosing.h
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Expand Up @@ -46,8 +46,11 @@ class LoopClosing
public:

typedef pair<set<KeyFrame*>,int> ConsistentGroup;
// typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
// Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;

public:

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3 changes: 2 additions & 1 deletion include/ORBextractor.h
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Expand Up @@ -23,7 +23,8 @@

#include <vector>
#include <list>
#include <opencv/cv.h>
//#include <opencv/cv.h> //opencv3
#include <opencv2/imgproc/types_c.h>


namespace ORB_SLAM2
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