fix compatibility with OpenCV 4.x

CMakeLists.txt

@@ -1,8 +1,12 @@
 # CMakeLists.txt has to be located in the project folder and cmake has to be
 # executed from 'project/build' with 'cmake ../'.
 
-cmake_minimum_required(VERSION 2.6)
+cmake_minimum_required(VERSION 3.9)
+project(frame_helper
+        VERSION 1.0
+        DESCRIPTION "Library for manipulating Rock Core image type")
 find_package(Rock)
-rock_init(frame_helper 1.0)
+rock_init()
+
+rock_opencv_autodetect(OPENCV_PACKAGE)
 rock_standard_layout()
-set(PROJECT_DESCRIPTION "Library for manipulating frames")

bindings/ruby/CMakeLists.txt

@@ -6,7 +6,7 @@ pkg_check_modules(TYPELIBRUBY "typelib_ruby")
 if (TYPELIB_FOUND AND TYPELIBRUBY_FOUND AND GEM_FOUND)
     rock_ruby_rice_extension(frame_helper_ruby SHARED
         SOURCES FrameHelperRice.cpp
-        DEPS_PKGCONFIG rtt_typelib-$ENV{OROCOS_TARGET} typelib_ruby base-types)
+        DEPS_PKGCONFIG ${OPENCV_PACKAGE} rtt_typelib-$ENV{OROCOS_TARGET} typelib_ruby base-types)
     target_link_libraries(frame_helper_ruby frame_helper ${GEM_LIBRARIES})
 else()
     if (NOT TYPELIB_FOUND)

src/CMakeLists.txt

@@ -23,8 +23,7 @@ rock_library(${PROJECT_NAME}
         FrameHelper.h
         FrameHelperTypes.h
         FrameQImageConverter.h
-    DEPS_PKGCONFIG base-types opencv jpeg_conversion
-    DEPS_PLAIN 
-        Boost_REGEX
+    DEPS_PKGCONFIG base-types ${OPENCV_PACKAGE} jpeg_conversion
+    DEPS_PLAIN Boost_REGEX
     LIBS ${LIBV4l2_LIBRARIES} ${LIBV4l2C_LIBRARIES}
 )

src/FrameHelper.cpp

@@ -717,7 +717,7 @@ namespace frame_helper
             {
             case MODE_RGB:
                 {
-                    cv::Mat out = cv::imdecode(src.image,CV_LOAD_IMAGE_COLOR);
+                    cv::Mat out = cv::imdecode(src.image,cv::IMREAD_COLOR);
                     dst.init(out.cols,out.rows,8,MODE_RGB);
                     cv::cvtColor(out,FrameHelper::convertToCvMat(dst),cv::COLOR_BGR2RGB);
                     break;
@@ -726,7 +726,7 @@ namespace frame_helper
                 //PNG --> BGR
             case MODE_BGR:
                 {
-                    cv::Mat out = cv::imdecode(src.image,CV_LOAD_IMAGE_COLOR);
+                    cv::Mat out = cv::imdecode(src.image,cv::IMREAD_COLOR);
                     copyMatToFrame(out,dst);
                     break;
                 }

src/FrameQImageConverter.h

@@ -278,7 +278,7 @@ namespace frame_helper
                 {
                     char *buffer = const_cast<char*>(pbuffer);          // workaround for Mat non const constructor
                     const cv::Mat input(1,buffer_size,CV_8UC1,buffer);  // ensure buffer will not be modified !!!
-                    cv::Mat img = cv::imdecode(input,CV_LOAD_IMAGE_COLOR);
+                    cv::Mat img = cv::imdecode(input, cv::IMREAD_COLOR);
                     dst = QImage((const uchar*)img.data,img.cols,img.rows,QImage::Format_RGB888);
 		    dst = dst.rgbSwapped();
                     break;

src/frame_helper.pc.in

@@ -6,6 +6,6 @@ includedir=${prefix}/include
 Name: @PROJECT_NAME@
 Description: @PROJECT_DESCRIPTION@
 Version: @PROJECT_VERSION@
-Requires: opencv
+Requires: @PKGCONFIG_REQUIRES@
 Libs: -L${libdir} -l@PROJECT_NAME@
 Cflags: -I${includedir}