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Support Ubunutu 20.04 which uses OpenCV 4 and PCL 1.10 #6

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Support Ubunutu 20.04 which uses OpenCV 4 and PCL 1.10 #6

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4 changes: 2 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
cmake_minimum_required(VERSION 2.8.3)
project(file_player)

add_definitions(-std=c++11)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

if (NOT CMAKE_BUILD_TYPE)
set (CMAKE_BUILD_TYPE release)
Expand Down Expand Up @@ -117,7 +118,6 @@ add_dependencies(file_player file_player_msgs_generate_messages_cpp ${PROJECT_NA
add_dependencies(file_player ${catkin_EXPORTED_TARGETS})

target_link_libraries(file_player

${catkin_LIBRARIES}
${QT_LIBRARIES}
${OPENGL_LIBRARIES}
Expand Down
28 changes: 14 additions & 14 deletions src/ROSThread.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1512,8 +1512,8 @@ void ROSThread::StereoThread()
string current_stereo_right_name = data_folder_path_ + "/image/stereo_right" +"/"+ to_string(data)+".png";
cv::Mat current_left_image;
cv::Mat current_right_image;
current_left_image = imread(current_stereo_left_name, CV_LOAD_IMAGE_ANYDEPTH);
current_right_image = imread(current_stereo_right_name, CV_LOAD_IMAGE_ANYDEPTH);
current_left_image = imread(current_stereo_left_name, cv::IMREAD_ANYDEPTH);
current_right_image = imread(current_stereo_right_name, cv::IMREAD_ANYDEPTH);

if(!current_left_image.empty() && !current_right_image.empty()){

Expand Down Expand Up @@ -1553,8 +1553,8 @@ void ROSThread::StereoThread()
string next_stereo_right_name = data_folder_path_ + "/image/stereo_right" +"/"+ stereo_file_list_[current_img_index+1];
cv::Mat next_left_image;
cv::Mat next_right_image;
next_left_image = imread(next_stereo_left_name, CV_LOAD_IMAGE_ANYDEPTH);
next_right_image = imread(next_stereo_right_name, CV_LOAD_IMAGE_ANYDEPTH);
next_left_image = imread(next_stereo_left_name, cv::IMREAD_ANYDEPTH);
next_right_image = imread(next_stereo_right_name, cv::IMREAD_ANYDEPTH);
if(!next_left_image.empty() && !next_right_image.empty()){
stereo_left_next_img_ = make_pair(stereo_file_list_[current_img_index+1], next_left_image);
stereo_right_next_img_ = make_pair(stereo_file_list_[current_img_index+1], next_right_image);
Expand Down Expand Up @@ -1647,11 +1647,11 @@ void ROSThread::OmniThread()
cv::Mat omni2_image;
cv::Mat omni3_image;
cv::Mat omni4_image;
omni0_image = imread(current_omni0_name, CV_LOAD_IMAGE_COLOR);
omni1_image = imread(current_omni1_name, CV_LOAD_IMAGE_COLOR);
omni2_image = imread(current_omni2_name, CV_LOAD_IMAGE_COLOR);
omni3_image = imread(current_omni3_name, CV_LOAD_IMAGE_COLOR);
omni4_image = imread(current_omni4_name, CV_LOAD_IMAGE_COLOR);
omni0_image = imread(current_omni0_name, cv::IMREAD_COLOR);
omni1_image = imread(current_omni1_name, cv::IMREAD_COLOR);
omni2_image = imread(current_omni2_name, cv::IMREAD_COLOR);
omni3_image = imread(current_omni3_name, cv::IMREAD_COLOR);
omni4_image = imread(current_omni4_name, cv::IMREAD_COLOR);
if(!omni0_image.empty() && !omni1_image.empty() && !omni2_image.empty() && !omni3_image.empty() && !omni4_image.empty()){

cv::cvtColor(omni0_image, omni0_image, cv::COLOR_RGB2BGR);
Expand Down Expand Up @@ -1730,11 +1730,11 @@ void ROSThread::OmniThread()
cv::Mat omni2_image;
cv::Mat omni3_image;
cv::Mat omni4_image;
omni0_image = imread(next_omni0_name, CV_LOAD_IMAGE_COLOR);
omni1_image = imread(next_omni1_name, CV_LOAD_IMAGE_COLOR);
omni2_image = imread(next_omni2_name, CV_LOAD_IMAGE_COLOR);
omni3_image = imread(next_omni3_name, CV_LOAD_IMAGE_COLOR);
omni4_image = imread(next_omni4_name, CV_LOAD_IMAGE_COLOR);
omni0_image = imread(next_omni0_name, cv::IMREAD_COLOR);
omni1_image = imread(next_omni1_name, cv::IMREAD_COLOR);
omni2_image = imread(next_omni2_name, cv::IMREAD_COLOR);
omni3_image = imread(next_omni3_name, cv::IMREAD_COLOR);
omni4_image = imread(next_omni4_name, cv::IMREAD_COLOR);
if(!omni0_image.empty() && !omni1_image.empty() && !omni2_image.empty() && !omni3_image.empty() && !omni4_image.empty()){
cv::cvtColor(omni0_image, omni0_image, cv::COLOR_RGB2BGR);
cv::cvtColor(omni1_image, omni1_image, cv::COLOR_RGB2BGR);
Expand Down