Merge pull request #73 from avidbots/opencv-3-1-support

Opencv 3 1 support for Ros Noetic

.travis.yml

@@ -7,6 +7,7 @@ cache:
 env:
   matrix:
     - ROS_DISTRO="kinetic" ROS_REPO=ros AFTER_SETUP_TARGET_WORKSPACE='./scripts/ci_prebuild.sh' AFTER_SCRIPT='./scripts/ci_postbuild.sh'
+    - ROS_DISTRO="noetic" ROS_REPO=ros AFTER_SETUP_TARGET_WORKSPACE='./scripts/ci_prebuild.sh'
 install:
   - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
 

flatland_server/src/layer.cpp

@@ -58,6 +58,12 @@
 #include <iostream>
 #include <memory>
 #include <opencv2/opencv.hpp>
+#if CV_MAJOR_VERSION < 3
+#define GREYSCALE CV_LOAD_IMAGE_GRAYSCALE
+#else
+#include <opencv2/imgcodecs.hpp>
+#define GREYSCALE cv::ImreadModes::IMREAD_GRAYSCALE
+#endif
 #include <sstream>
 
 namespace flatland_server {
@@ -162,7 +168,7 @@ Layer *Layer::MakeLayer(b2World *physics_world, CollisionFilterRegistry *cfr,
       ROS_INFO_NAMED("Layer", "layer \"%s\" loading image from path=\"%s\"",
                      names[0].c_str(), image_path.string().c_str());
 
-      cv::Mat map = cv::imread(image_path.string(), CV_LOAD_IMAGE_GRAYSCALE);
+      cv::Mat map = cv::imread(image_path.string(), GREYSCALE);
       if (map.empty()) {
         throw YAMLException("Failed to load " + Q(image_path.string()) +
                             " in layer " + Q(names[0]));

scripts/ci_prebuild.sh

@@ -7,7 +7,7 @@ function print_er {
 }
 
 
-apt-get install clang-3.8 clang-format-3.8 clang-tidy-3.8 -y 
+apt-get install clang clang-format clang-tidy -y 
 
 # change to the file's directory
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"