ros-perception · JWhitleyWork · Mar 30, 2020 · May 6, 2020 · May 13, 2020 · May 13, 2020
diff --git a/camera_calibration/CMakeLists.txt b/camera_calibration/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(camera_calibration)
 
 find_package(catkin REQUIRED)

diff --git a/camera_calibration/src/camera_calibration/camera_calibrator.py b/camera_calibration/src/camera_calibration/camera_calibrator.py
@@ -47,7 +47,7 @@
     from queue import Queue
 except ImportError:
     from Queue import Queue
-from calibrator import CAMERA_MODEL
+from camera_calibration.calibrator import CAMERA_MODEL
 
 class BufferQueue(Queue):
     """Slight modification of the standard Queue that discards the oldest item

diff --git a/depth_image_proc/CMakeLists.txt b/depth_image_proc/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(depth_image_proc)
 
 find_package(catkin REQUIRED cmake_modules cv_bridge eigen_conversions image_geometry image_transport message_filters nodelet sensor_msgs stereo_msgs tf2 tf2_ros)

diff --git a/image_pipeline/CMakeLists.txt b/image_pipeline/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(image_pipeline)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/image_proc/CMakeLists.txt b/image_proc/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(image_proc)
 
 find_package(catkin REQUIRED)

diff --git a/image_publisher/CMakeLists.txt b/image_publisher/CMakeLists.txt
@@ -1,17 +1,11 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(image_publisher)
 
 find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure camera_info_manager sensor_msgs image_transport nodelet roscpp)
 
-set(opencv_2_components core highgui)
-set(opencv_3_components core imgcodecs videoio)
-find_package(OpenCV REQUIRED COMPONENTS core)
+set(opencv_4_components core imgcodecs videoio)
+find_package(OpenCV 4 REQUIRED COMPONENTS ${opencv_4_components})
 message(STATUS "opencv version ${OpenCV_VERSION}")
-if(OpenCV_VERSION VERSION_LESS "3.0.0")
-  find_package(OpenCV 2 REQUIRED COMPONENTS ${opencv_2_components})  
-else()
-  find_package(OpenCV 3 REQUIRED COMPONENTS ${opencv_3_components})  
-endif()
 
 # generate the dynamic_reconfigure config file
 generate_dynamic_reconfigure_options(cfg/ImagePublisher.cfg)

diff --git a/image_publisher/src/nodelet/image_publisher_nodelet.cpp b/image_publisher/src/nodelet/image_publisher_nodelet.cpp
@@ -95,7 +95,7 @@ class ImagePublisherNodelet : public nodelet::Nodelet
     {
       if ( cap_.isOpened() ) {
         if ( ! cap_.read(image_) ) {
-          cap_.set(CV_CAP_PROP_POS_FRAMES, 0);
+          cap_.set(cv::CAP_PROP_POS_FRAMES, 0);
         }
       }
       if (flip_image_)
@@ -136,7 +136,7 @@ class ImagePublisherNodelet : public nodelet::Nodelet
     nh_.param("filename", filename_, std::string(""));
     NODELET_INFO("File name for publishing image is : %s", filename_.c_str());
     try {
-      image_ = cv::imread(filename_, CV_LOAD_IMAGE_COLOR);
+      image_ = cv::imread(filename_, cv::IMREAD_COLOR);
       if ( image_.empty() ) { // if filename is motion file or device file
         try {  // if filename is number
           int num = boost::lexical_cast<int>(filename_);//num is 1234798797
@@ -146,7 +146,7 @@ class ImagePublisherNodelet : public nodelet::Nodelet
         }
         CV_Assert(cap_.isOpened());
         cap_.read(image_);
-        cap_.set(CV_CAP_PROP_POS_FRAMES, 0);
+        cap_.set(cv::CAP_PROP_POS_FRAMES, 0);
       }
       CV_Assert(!image_.empty());
     }

diff --git a/image_rotate/CMakeLists.txt b/image_rotate/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(image_rotate)
 
 find_package(catkin REQUIRED COMPONENTS cmake_modules cv_bridge dynamic_reconfigure image_transport nodelet roscpp tf2 tf2_geometry_msgs)

diff --git a/image_view/CMakeLists.txt b/image_view/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(image_view)
 
 find_package(catkin REQUIRED COMPONENTS camera_calibration_parsers cv_bridge dynamic_reconfigure image_transport message_filters message_generation nodelet rosconsole roscpp std_srvs stereo_msgs)

diff --git a/image_view/src/nodelets/image_nodelet.cpp b/image_view/src/nodelets/image_nodelet.cpp
@@ -227,7 +227,7 @@ void ImageNodelet::imageCb(const sensor_msgs::ImageConstPtr& msg)
       options.max_image_value = max_image_value_;
     }
     cv_ptr = cvtColorForDisplay(cv_bridge::toCvShare(msg), "", options);
-    queued_image_.set(cv_ptr->image);
+    queued_image_.set(cv_ptr->image.clone());
   }
   catch (cv_bridge::Exception& e) {
     NODELET_ERROR_THROTTLE(30, "Unable to convert '%s' image for display: '%s'",

diff --git a/stereo_image_proc/CMakeLists.txt b/stereo_image_proc/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(stereo_image_proc)
 
 find_package(catkin REQUIRED cv_bridge dynamic_reconfigure image_geometry image_proc image_transport message_filters nodelet sensor_msgs stereo_msgs)