diff --git a/include/animation.h b/include/animation.h
index 2136fb8aeba31c2fa37e0570302a7d98b027ff52..7116a9aea295be26b867fcfbec7720f695b3c364 100644
--- a/include/animation.h
+++ b/include/animation.h
@@ -23,12 +23,8 @@ they can be represented in QT.
#include <QStringList>
#include <QTime>
-#ifndef STEREO_DISABLED
-#include "opencv/cv.h"
-#include "opencv/highgui.h"
-#else
+
#include "opencv.hpp"
-#endif
#include "filter.h"
#include "helper.h"
@@ -260,13 +256,10 @@ private:
// Free's the video data
void freeVideo();
-#if CV_MAJOR_VERSION == 2
- // Capture structure from OpenCV 2
- CvCapture *mCapture;
-#else
+
// Capture structure from OpenCV 3/4
cv::VideoCapture mVideoCapture;
-#endif
+
#ifndef STEREO_DISABLED
// Capture structure from pgrAviFile for Stereo Videos
diff --git a/include/backgroundFilter.h b/include/backgroundFilter.h
index c23ed2411176053c37ab3f34a56f8104dcd72194..77c30b9cf0b44ecb961c35e851ff8feb4fefc034 100644
--- a/include/backgroundFilter.h
+++ b/include/backgroundFilter.h
@@ -3,12 +3,8 @@
#include "filter.h"
-#ifndef STEREO_DISABLED
-#include "cvaux.h"
-#include "opencv/cvaux.h"
-#else
+
#include "opencv2/opencv.hpp"
-#endif
#include "opencv2/video/background_segm.hpp"
@@ -22,12 +18,10 @@
class BackgroundFilter : public Filter
{
private:
-#if CV_MAJOR_VERSION == 2
- CvBGStatModel* mBgModel;
-#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
+
cv::Ptr<cv::BackgroundSubtractorMOG2> mBgModel;
//Ptr<BackgroundSubtractor> mBgModel;
-#endif
+
bool mUpdate; // if 0, kein update des models, sonst schon
pet::StereoContext** mStereoContext; // zeiger auf den zeiger in petrack mit stereocontext
cv::Mat mBgPointCloud;
diff --git a/include/blurFilter.h b/include/blurFilter.h
index 2437d059ff1d92169d274b365cfdc7b08e26cd10..05688b8f7a600f0e8851a0aab095184eb120aa68 100644
--- a/include/blurFilter.h
+++ b/include/blurFilter.h
@@ -2,11 +2,7 @@
#define BLURFILTER_H
#include "filter.h"
-#if not CV_MAJOR_VERSION == 4
-#include "cv.h"
-#else
#include "opencv.hpp"
-#endif
class BlurFilter : public Filter
{
diff --git a/include/ellipse.h b/include/ellipse.h
index 080146c977f3321af1c28c669b6f8df266cb34b9..240f51e2747d30970d91a76d52f989d1677008ca 100644
--- a/include/ellipse.h
+++ b/include/ellipse.h
@@ -1,11 +1,8 @@
#ifndef ELLIPSE_H
#define ELLIPSE_H
-#ifndef STEREO_DISABLED
-#include <cxcore.h>
-#else
+
#include "opencv.hpp"
-#endif
#include "vector.h"
diff --git a/include/extrCalibration.h b/include/extrCalibration.h
index e70a8754c89cc227d5253ce313bb5a399117750d..9e5db71e55227d3b00b6a33c9bad2427a22b75bd 100644
--- a/include/extrCalibration.h
+++ b/include/extrCalibration.h
@@ -14,13 +14,7 @@
#include "opencv2/opencv.hpp"
-#include <opencv.hpp>
-#ifndef STEREO_DISABLED
-#include "cxcore.h"
-#include "cvaux.h"
-#endif
-#include "opencv.hpp"
class Petrack;
class Control;
diff --git a/include/filter.h b/include/filter.h
index 6593cbcff5dd0ab5c35f342118cef6a9ea16b83d..3dabd9ab4556159c907d3cd082e217b49934e95b 100644
--- a/include/filter.h
+++ b/include/filter.h
@@ -1,12 +1,8 @@
#ifndef FILTER_H
#define FILTER_H
-#ifndef STEREO_DISABLED
-#include "cv.h"
-#include "opencv/cv.h"
-#else
+
#include "opencv2/opencv.hpp"
-#endif
class Filter;
diff --git a/include/petrack.h b/include/petrack.h
index 81709907a0c281db8da592d8b83b9f36d4c726db..e9b74b3083c0fb8975455bd22d22ec93046bb8de 100644
--- a/include/petrack.h
+++ b/include/petrack.h
@@ -6,10 +6,6 @@
#include <QKeyEvent>
#include <QMouseEvent>
-#ifndef STEREO_DISABLED
-#include "cvaux.h"
-#include "cxcore.h"
-#endif
#include <opencv.hpp>
//#include "opencv2/cxcore.h"
diff --git a/include/player.h b/include/player.h
index 8bcec2a8dd9ff1336fb305124e7fb8694708daed..764fb16891f58a96c17054a53065aece8a06cdc7 100644
--- a/include/player.h
+++ b/include/player.h
@@ -9,11 +9,8 @@
#else
#include "aviFileWriter.h"
#endif
-#ifndef STEREO_DISABLED
-#include "cv.h"
-#else
+
#include "opencv.hpp"
-#endif
class QLabel;
class QSlider;
diff --git a/include/stereoContext.h b/include/stereoContext.h
index 998409dafc1e6f381b23269b8b5781c3b7d25579..1b9909bfa610366159e20b8f8f5ff7a1e215b917 100644
--- a/include/stereoContext.h
+++ b/include/stereoContext.h
@@ -132,11 +132,8 @@ protected:
CvStereoBMState *mBMState;
#endif
-#if CV_MAJOR_VERSION == 2
- cv::StereoSGBM *mSgbm;
-#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
+
cv::Ptr<cv::StereoSGBM> mSgbm;
-#endif
CvMat *mBMdisparity16;
CvMat *mPointCloud;
unsigned char mSurfaceValue;
diff --git a/include/tracker.h b/include/tracker.h
index b9623b92441f16627a80070c7d686161a1899dd3..534f3203179e04fec5f4af48d9e12e688b33e22f 100644
--- a/include/tracker.h
+++ b/include/tracker.h
@@ -7,9 +7,6 @@
//#include <opencv2/core/core.hpp>
-#ifndef STEREO_DISABLED
-#include "cxcore.h"
-#endif
#include "vector.h"
diff --git a/src/animation.cpp b/src/animation.cpp
index f1cdab0b69763066fc16227446c42fd89f369093..e32a4eb135c57815d77f2c735757713ccda2ac2b 100644
--- a/src/animation.cpp
+++ b/src/animation.cpp
@@ -33,12 +33,8 @@ they can be represented in QT.
#include <cstdlib>
#include <iomanip>
-#ifndef STEREO_DISABLED
-#include "cv.h"
-#include "highgui.h"
-#else
+
#include "opencv.hpp"
-#endif
#include "animation.h"
diff --git a/src/autoCalib.cpp b/src/autoCalib.cpp
index efebbbe954a293573e902656345de0407325140f..4d63dbe085caa3623f02c1c37e0e6968a12dfd58 100644
--- a/src/autoCalib.cpp
+++ b/src/autoCalib.cpp
@@ -94,11 +94,8 @@ void AutoCalib::autoCalib()
QMessageBox::information(mMainWindow, Petrack::tr("Petrack"), Petrack::tr("At first you have to select files."));
return;
}
-#if CV_MAJOR_VERSION == 2
- CvSize board_size = {mBoardSizeX, mBoardSizeY}; //{6, 9}; //{6, 8}; // passt zu meinem Schachbrett, was ich ausgedruckt habe
-#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
- Size board_size(mBoardSizeX, mBoardSizeY);
-#endif
+
+ Size board_size(mBoardSizeX, mBoardSizeY); //{6, 9}; //{6, 8}; // passt zu meinem Schachbrett, was ich ausgedruckt habe
float square_size = mSquareSize; //5.25f; // 3.f; // da 3x3cm hat Schachbrett, was ich ausgedruckt habe
float aspect_ratio = 1.f;
int flags = 0;
diff --git a/src/backgroundFilter.cpp b/src/backgroundFilter.cpp
index 9643b9d4d26ecfe84eaac8173de4a36b6fac948a..b2a6615a66b73e436570c9b5eb931cff1ddf6c5b 100644
--- a/src/backgroundFilter.cpp
+++ b/src/backgroundFilter.cpp
@@ -29,14 +29,11 @@ BackgroundFilter::BackgroundFilter()
{
setOnCopy(false); // da img nur ausgelesen, aber bnicht veraendert wird kann auf eine kopie verzichtet werden (true ist default bei filter)
-#if CV_MAJOR_VERSION == 2
- mBgModel = NULL;
-#elif CV_MAJOR_VERSION == 3
+
// mBgModel = createBackgroundSubtractorMOG2().dynamicCast<BackgroundSubtractor>();
// mBgModel = method == "knn" ? createBackgroundSubtractorKNN().dynamicCast<BackgroundSubstractor>() :
// createBackgroundSubtractorMOG2().dynamicCast<BackgroundSubstractor>();//.dynamicCast<BackgroundSubtractorMOG2>();
-#endif
// mBgPointCloud = NULL;
// mForeground = NULL;
mLastFile = "";
@@ -44,10 +41,7 @@ BackgroundFilter::BackgroundFilter()
BackgroundFilter::~BackgroundFilter()
{
-#if CV_MAJOR_VERSION == 2
- cvReleaseBGStatModel(&mBgModel);
- cvReleaseMat(&mBgPointCloud);
-#endif
+
}
@@ -70,16 +64,6 @@ bool BackgroundFilter::isForeground(int i, int j) // nutzen, wenn einzelne pixel
// zuruecksetzen, wenn zB helligkeit veraendert wird oder schaerfe
void BackgroundFilter::reset()
{
-#if CV_MAJOR_VERSION == 2
- cvReleaseBGStatModel(&mBgModel);
- mBgModel = NULL;
-
- if (*stereoContext())
- {
- cvReleaseMat(&mBgPointCloud);
- mBgPointCloud = NULL;
- }
-#endif
// funktioniert nicht wirklich
// if (!mBgModel.empty())
if (!mForeground.empty()) mForeground = Scalar::all(0);
@@ -439,24 +423,8 @@ waitKey();
{
// GaussBGStatModel ---------------------------------------------------------------------------------------------------------------------
-#if CV_MAJOR_VERSION == 2
-
- // set parameters for Gaussian model.
- static CvGaussBGStatModelParams* params = NULL;
-
- params = new CvGaussBGStatModelParams;
- params->win_size=200; //default: 200 /* Learning rate; alpha = 1/CV_GBG_WINDOW_SIZE */
- params->n_gauss=5; //default: 5 /* = K = number of Gaussians in mixture */
- params->bg_threshold=0.7; //default: 0.7 /* threshold sum of weights for background test */
- params->std_threshold=2.5; //im netz: 3.5 //default: 2.5 /* lambda=2.5 is 99% */
- params->minArea=15; //1800; //default: 15 //hier wird meiner vermutung nach die groesse der minimalen abgetrennten bereiche eingestellt
- params->weight_init=0.05; //default: 0.05
- params->variance_init=30; //=sigma_init //default: 30
- mBgModel = cvCreateGaussianBGModel(img, params);
- mForeground = mBgModel->foreground;
-#elif CV_MAJOR_VERSION == 3
if(!mBgModel.empty())
mBgModel->clear();
@@ -487,7 +455,6 @@ waitKey();
//mBgModel->getBackgroundImage(mBackground);
//mBgModel->apply(img,mForeground);
-#endif
// FGDStatModel ---------------------------------------------------------------------------------------------------------------------
// DOCUMENTATION: http://opencv.willowgarage.com/wiki/VideoSurveillance
@@ -648,12 +615,7 @@ else // nicht stereo
// GaussBGStatModel ---------------------------------------------------------------------------------------------------------------------
-#if CV_MAJOR_VERSION == 2
- if (update())
- cvUpdateBGStatModel(img, mBgModel); // default -1 das Hintergrundmodell wird mit aktuellem Bild aktualisiert
- else
- cvUpdateBGStatModel(img, mBgModel, 0);
-#elif CV_MAJOR_VERSION == 3
+
mBgModel->apply(img, mForeground, update() ? -1 : 0);
@@ -667,7 +629,6 @@ else // nicht stereo
// mBgModel->apply(img,mForeground,0);
// //mBgModel->apply(img,mForeground,0);
// }
-#endif
#ifdef SHOW_TMP_IMG
imshow("BackgroundFilter",img);
@@ -722,11 +683,7 @@ waitKey();
{
vector<Point> contour = contours.back();
- #if ((CV_MAJOR_VERSION < 2) || ((CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 1)))
- contourArea = cvContourArea(contour, CV_WHOLE_SEQ);
- #else
contourArea = cv::contourArea(contour, true);
- #endif
if (contourArea > 0 && contourArea < 400) // kleine innere loecher schliessen
{
// pointArray = (CvPoint*)malloc(contour->total*sizeof(CvPoint));
diff --git a/src/blurFilter.cpp b/src/blurFilter.cpp
index cd6c522063843d9a81b2cff1a3fee7bbc9f792ce..f748c590a62044b2b5fc4a375f0865f38a53fa62 100644
--- a/src/blurFilter.cpp
+++ b/src/blurFilter.cpp
@@ -1,9 +1,5 @@
#include "blurFilter.h"
-#if CV_MAJOR_VERSION == 4
#include "opencv.hpp"
-#else
-#include "cv.h"
-#endif
#include "opencv2/opencv.hpp"
using namespace::cv;
diff --git a/src/calibStereoFilter.cpp b/src/calibStereoFilter.cpp
index 3ac01e54f22a0bb8d5f43735f5bc5870a553db58..479620bcc2724ca1d5b5bb4b24db12928ada2bda 100644
--- a/src/calibStereoFilter.cpp
+++ b/src/calibStereoFilter.cpp
@@ -12,11 +12,8 @@ CalibStereoFilter::CalibStereoFilter()
Mat CalibStereoFilter::act(Mat &img, Mat &res)
{
-#ifndef STEREO_DISABLED
- return cvarrToMat(mStereoContext->getRectified(cameraUnset)); // kein Zugriff auf mAnimation->getCaptureStereo()->getCamera()
-#else
return Mat();
-#endif
+
}
void CalibStereoFilter::setStereoContext(pet::StereoContext* stereoContext)
{
diff --git a/src/extrCalibration.cpp b/src/extrCalibration.cpp
index 609fa233e8c5cef0566b05d30fc4873426ff3d5d..dfd909578d1e216b3896f7cd75b82b8b2b848436 100644
--- a/src/extrCalibration.cpp
+++ b/src/extrCalibration.cpp
@@ -393,10 +393,7 @@ void ExtrCalibration::calibExtrParams()
Mat rvec(3,1,CV_64F),/*,0),*/ tvec(3,1,CV_64F);//,0);
// Solve the PnP-Problem to calibrate the camera to its environment
-#if ((CV_MAJOR_VERSION < 2) || ((CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 3)))
- bool solvePNPsuccess = true;
- solvePnP(op,ip,camMat,distMat,rvec,tvec,false);
-#else
+
bool solvePNPsuccess = solvePnP(op,ip,camMat,distMat,rvec,tvec,false,SOLVEPNP_ITERATIVE);
//bool solvePNPsuccess = solvePnP(op,ip,camMat,distMat,rvec,tvec,false,SOLVEPNP_P3P); // Requires exactly 4 points
//bool solvePNPsuccess = solvePnP(op,ip,camMat,distMat,rvec,tvec,false,SOLVEPNP_EPNP);
@@ -404,7 +401,7 @@ void ExtrCalibration::calibExtrParams()
//bool solvePNPsuccess = solvePnP(op,ip,camMat,distMat,rvec,tvec,false,SOLVEPNP_UPNP);
//bool solvePNPsuccess = true;
//solvePnPRansac(op,ip,camMat,distMat,rvec,tvec);
-#endif
+
// debout << "The solvePNP-Method " << (solvePNPsuccess ? "" : "doesn't ") << "worked. " << solvePNPsuccess << endl;
diff --git a/src/recognition.cpp b/src/recognition.cpp
index 883403dd49a3b4b3c6f073659435f429fd14f5c4..edb35e1be354c839e11a9f3acd32f28339756af2 100644
--- a/src/recognition.cpp
+++ b/src/recognition.cpp
@@ -283,11 +283,8 @@ void findMultiColorMarker(Mat &img, QList<TrackPoint> *crossList, Control *contr
int i, j, x, y;
bool atEdge;
int threshold;
-#if CV_MAJOR_VERSION == 2
- CvBox2D32f subBox;
-#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
+
RotatedRect subBox;
-#endif
int cx, cy, add;
int nr;
@@ -670,15 +667,10 @@ void findMultiColorMarker(Mat &img, QList<TrackPoint> *crossList, Control *contr
if (subRatio < 1.8 && subMaxExpansion < markerSize*1.5 && subMaxExpansion > markerSize/2)//1.5
{
// IN OPENCV2.1 liefert cvContourArea KEIN VORZEICHEN ZUM ERKENNEN DER DREHRICHTUNG!!!! es ist ein optionaler paramter hinzugefuegt worden!!!!
- #if ((CV_MAJOR_VERSION < 2) || ((CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 1)))
- //if ((CV_MAJOR_VERSION < 2) || ((CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 1)))
-// subContourArea = cvContourArea(subContours,CV_WHOLE_SEQ);
- subContourArea = cv::contourArea(subContour);
- #else
+
//else
subContourArea = cv::contourArea(subContour,true);
// subContourArea = cvContourArea(subContours,CV_WHOLE_SEQ, true);
- #endif
cx = myRound(subBox.center.x);
cy = myRound(subBox.center.y);
@@ -1173,14 +1165,11 @@ void findContourMarker(Mat &img, QList<TrackPoint> *crossList, int markerBrightn
vector<vector<Point> > contours;
// CvSeq *contours;
// CvSeq *firstContour;
-#if CV_MAJOR_VERSION == 2
- CvPoint2D32f* PointArray2D32f;
- CvBox2D32f box;
-#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
+
+
// Mat PointArray2D32f;
RotatedRect box;
//CvBox2D box;
-#endif
// CvPoint center;
int expansion;
double contourArea;
@@ -1356,35 +1345,7 @@ cvWaitKey();
////// in weiss alle konturen - behindern jedoch weitere untersuchungen
////cvDrawContours(img,contours,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
#endif
-#if CV_MAJOR_VERSION == 2
-//debout << "PointArray malloc" << endl;
- // Alloc memory for contour point set.
- PointArray = (CvPoint*)malloc(count*sizeof(CvPoint));
- //cv::Mat PointMat = cv::Mat(1, count, CV_32SC2, contours);
- //debout << cv::contourArea(PointMat) <<endl;
- //debout << cv::isContourConvex(PointMat) <<endl;
- //HoughCircles: Finds circles in a grayscale image using a Hough transform.
- //debout << "seqToArray" << endl;
- // Get contour point set.
- cvCvtSeqToArray(contours, PointArray, CV_WHOLE_SEQ);
-
-
-
- PointArray2D32f = (CvPoint2D32f*)malloc(count*sizeof(CvPoint2D32f));
-
- // Convert CvPoint set to CvBox2D32f set.
- for(i=0; i<count; i++)
- {
- PointArray2D32f[i].x = (float)PointArray[i].x;
- PointArray2D32f[i].y = (float)PointArray[i].y;
- //debout << "[" << i << "]" << PointArray2D32f[i].x << ", " << PointArray2D32f[i].y << endl;
- }
- //debout << "FitEllipse" << endl;
- // Fits ellipse to current contour.
- //debout << "count: " << count << endl;
- cvFitEllipse(PointArray2D32f, count, &box);
-#elif CV_MAJOR_VERSION == 3 || CV_MAJOR_VERSION == 4
// PointArray2D32f.create(count,2, CV_32F);
// //Mat(cvarrToMat(contours)).convertTo(PointArray2D32f.at(i), CV_32F);
@@ -1405,7 +1366,7 @@ cvWaitKey();
box = fitEllipse(pointsf);
// box = fitEllipse(PointArray2D32f);//, count, &box);
-#endif
+
// neuer:
//// Fits ellipse to current contour.
//CvBox2D box = cvFitEllipse2(PointArray2D32f);
@@ -1428,14 +1389,10 @@ cvWaitKey();
//debout << "contourArea" << endl;
//cvContourArea(contours,CV_WHOLE_SEQ) koennte mit MyEllipse.are() verglichen werden und bei grossen abweichungen verworfenwerden!!!
// IN OPENCV2.1 liefert cvContourArea KEIN VORZEICHEN ZUM ERKENNEN DER DREHRICHTUNG!!!! es ist ein optionaler paramter hinzugefuegt worden!!!!
-#if ((CV_MAJOR_VERSION < 2) || ((CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 1)))
- //if ((CV_MAJOR_VERSION < 2) || ((CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 1)))
- contourArea = cv:contourArea(contours,true);
-#else
+
//else
contourArea = cv::contourArea(contour,true);
// contourArea = cvContourArea(contours,CV_WHOLE_SEQ, true);
-#endif
//contourArea koennte mit MyEllipse.area() verglichen werden und bei grossen abweichungen verworfenwerden!!!
//debout << contourArea << " " << box.center.x << " " << box.center.y << " " << box.size.width <<" " << box.size.height <<endl;
@@ -1505,11 +1462,8 @@ imShow("img2", tmpAusgabe2);
}
//debout << "FreePointArray" << endl;
// free(PointArray);
-#if CV_MAJOR_VERSION == 2
- free(PointArray2D32f);
-#elif CV_MAJOR_VERSION == 3
+
// PointArray2D32f.release();
-#endif
}
//debout << "Free PointArray" << endl;
diff --git a/src/tracker.cpp b/src/tracker.cpp
index 315a9b04923eae626b65f0d5f2e1e36fc27de5dd..62cd998fab9a93e1410b9121993e8939227c9bd2 100644
--- a/src/tracker.cpp
+++ b/src/tracker.cpp
@@ -1,9 +1,5 @@
-#if not CV_MAJOR_VERSION == 4
-#include <cv.h>
-#else
#include "opencv.hpp"
#include "opencv2/video/legacy/constants_c.h"
-#endif
#include <time.h>
#include <iomanip>
diff --git a/src/vector.cpp b/src/vector.cpp
index d483daa14c1f1cdb31b26bf38cfac4c83e3fc38c..c752f55172b75ec739a6e2326df89e17ebb060cf 100644
--- a/src/vector.cpp
+++ b/src/vector.cpp
@@ -1,8 +1,4 @@
-#ifndef STEREO_DISABLED
-#include "cxcore.h"
-#else
#include "opencv.hpp"
-#endif
#include <QPointF>
#include <QPoint>