ipa320 · ipa-rmb · Jun 21, 2017 · Jun 13, 2017 · Jun 14, 2017 · Jun 14, 2017
diff --git a/cob_leg_detection/CMakeLists.txt b/cob_leg_detection/CMakeLists.txt
@@ -47,6 +47,7 @@ include_directories(
 	${OpenCV_INCLUDE_DIRS}
 	${orocos_kdl_INCLUDE_DIRS}
 	${BFL_INCLUDE_DIRS}
+	${BFL_INCLUDE_DIRS}/bfl
 	${EIGEN_INCLUDE_DIRS}
 )
 

diff --git a/cob_leg_detection/src/calc_leg_features.cpp b/cob_leg_detection/src/calc_leg_features.cpp
@@ -34,8 +34,7 @@
 
 #include <cob_leg_detection/calc_leg_features.h>
 
-#include "opencv/cxcore.h"
-#include "opencv/cv.h"
+#include <opencv2/opencv.hpp>
 
 using namespace laser_processor;
 using namespace std;

diff --git a/cob_leg_detection/src/leg_detector.cpp b/cob_leg_detection/src/leg_detector.cpp
@@ -102,9 +102,7 @@
 #include <cob_leg_detection/laser_processor.h>
 #include <cob_leg_detection/calc_leg_features.h>
 
-#include <opencv/cxcore.h>
-#include <opencv/cv.h>
-#include <opencv/ml.h>
+#include <opencv2/opencv.hpp>
 
 #include <cob_perception_msgs/PositionMeasurement.h>
 #include <cob_perception_msgs/PositionMeasurementArray.h>
@@ -452,7 +450,12 @@ class LegDetector
 	//TransformListener tflp_;
 	ScanMask mask_;
 	int mask_count_;
+#if CV_MAJOR_VERSION == 2
 	CvRTrees forest;
+#else
+	// OpenCV 3
+	cv::Ptr<cv::ml::RTrees> forest;
+#endif
 	float connected_thresh_;
 	int feat_count_;
 	char save_[100];
@@ -492,8 +495,16 @@ class LegDetector
 	{
 
 		if (g_argc > 1) {
+#if CV_MAJOR_VERSION == 2
 			forest.load(g_argv[1]);
 			feat_count_ = forest.get_active_var_mask()->cols;
+#else
+			// OpenCV 3
+			forest = cv::ml::RTrees::create();
+			cv::String feature_file = cv::String(g_argv[1]);
+			forest = cv::ml::StatModel::load<cv::ml::RTrees>(feature_file);
+			feat_count_ = forest->getVarCount();
+#endif
 			printf("Loaded forest with %d features: %s\n", feat_count_, g_argv[1]);
 		} else {
 			printf("Please provide a trained random forests classifier as an input.\n");
@@ -708,7 +719,12 @@ class LegDetector
 		ScanProcessor processor(*scan, mask_);
 		processor.splitConnected(connected_thresh_);
 		processor.removeLessThan(5);
+#if CV_MAJOR_VERSION == 2
 		CvMat* tmp_mat = cvCreateMat(1,feat_count_,CV_32FC1);
+#else
+// OpenCV 3
+		cv::Mat tmp_mat = cv::Mat(1, feat_count_, CV_32FC1);
+#endif
 
 		// if no measurement matches to a tracker in the last <no_observation_timeout>  seconds: erase tracker
 		ros::Time purge = scan->header.stamp + ros::Duration().fromSec(-no_observation_timeout_s);
@@ -742,9 +758,24 @@ class LegDetector
 			vector<float> f = calcLegFeatures(*i, *scan);
 
 			for (int k = 0; k < feat_count_; k++)
+#if CV_MAJOR_VERSION == 2
 				tmp_mat->data.fl[k] = (float)(f[k]);
+#else
+// OpenCV 3
+				tmp_mat.data[k] = (float)(f[k]);
+#endif
 
+#if CV_MAJOR_VERSION == 2
 			float probability = forest.predict_prob( tmp_mat );
+#else
+// OpenCV 3
+			// Probability is the fuzzy measure of the probability that the second element should be chosen,
+			// in opencv2 RTrees had a method predict_prob, but that disapeared in opencv3, this is the
+			// substitute.
+			float probability = 0.5 -
+				forest->predict(tmp_mat, cv::noArray(), cv::ml::RTrees::PREDICT_SUM) /
+				forest->getRoots().size();
+#endif
 			Stamped<Point> loc((*i)->center(), scan->header.stamp, scan->header.frame_id);
 			try {
 				tfl_.transformPoint(fixed_frame, loc, loc);
@@ -832,7 +863,9 @@ class LegDetector
 			}
 		}
 
+#if CV_MAJOR_VERSION == 2
 		cvReleaseMat(&tmp_mat); tmp_mat = 0;
+#endif
 		// if(!use_seeds_)
 		pairLegs();
 

diff --git a/cob_leg_detection/src/train_leg_detector.cpp b/cob_leg_detection/src/train_leg_detector.cpp
@@ -35,9 +35,7 @@
 #include "cob_leg_detection/laser_processor.h"
 #include "cob_leg_detection/calc_leg_features.h"
 
-#include "opencv/cxcore.h"
-#include "opencv/cv.h"
-#include "opencv/ml.h"
+#include <opencv2/opencv.hpp>
 
 #include "cob_perception_msgs/PositionMeasurement.h"
 #include "sensor_msgs/LaserScan.h"

diff --git a/cob_openni2_tracker/ros/include/cob_openni2_tracker/body_tracker.h b/cob_openni2_tracker/ros/include/cob_openni2_tracker/body_tracker.h
@@ -91,8 +91,6 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
-//#include <opencv/cv.h>
-//#include <opencv/highgui.h>
 #include <cv_bridge/cv_bridge.h>
 //boost
 #include <boost/thread/mutex.hpp>

diff --git a/cob_people_detection/common/include/cob_people_detection/abstract_face_recognizer.h b/cob_people_detection/common/include/cob_people_detection/abstract_face_recognizer.h
@@ -67,7 +67,7 @@
 #endif
 
 // opencv
-#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 
 namespace ipa_PeopleDetector
 {

diff --git a/cob_people_detection/common/include/cob_people_detection/face_detector.h b/cob_people_detection/common/include/cob_people_detection/face_detector.h
@@ -67,8 +67,7 @@
 #include "cob_vision/cob_sensor_fusion/common/include/cob_sensor_fusion/ColoredPointCloud.h"	// todo: necessary?
 #endif
 
-#include <opencv/ml.h>
-#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 
 namespace ipa_PeopleDetector
 {

diff --git a/cob_people_detection/common/include/cob_people_detection/face_normalizer.h b/cob_people_detection/common/include/cob_people_detection/face_normalizer.h
@@ -1,7 +1,4 @@
-#include <opencv/cv.h>
-#include <opencv/cvaux.h>
-#include <opencv/highgui.h>
-#include <opencv/ml.h>
+#include <opencv2/opencv.hpp>
 
 #include <iostream>
 #include <boost/lexical_cast.hpp>

diff --git a/cob_people_detection/common/include/cob_people_detection/face_recognizer.h b/cob_people_detection/common/include/cob_people_detection/face_recognizer.h
@@ -71,8 +71,7 @@
 #endif
 
 // opencv
-#include <opencv/cv.h>
-#include <opencv/ml.h>
+#include <opencv2/opencv.hpp>
 
 // boost
 #include <boost/thread/mutex.hpp>
@@ -226,7 +225,12 @@ class FaceRecognizer: public AbstractFaceRecognizer
 	std::vector<std::string> m_face_labels; ///< A vector containing the corresponding labels to each face image projection in m_projected_training_faces (m_face_labels[i] stores the corresponding name to the face representation in the face subspace in m_projected_training_faces.rows(i))
 	cv::Mat m_face_class_average_projections; ///< The average factors of the eigenvector decomposition from each face class; The average factors from each face class originating from the eigenvector decomposition.
 	std::vector<std::string> m_current_label_set; ///< A vector containing all different labels from the training session exactly once, order of appearance matters! (m_current_label_set[i] stores the corresponding name to the average face coordinates in the face subspace in m_face_class_average_projections.rows(i))
+#if CV_MAJOR_VERSION == 2
 	cv::SVM m_face_classifier; ///< classifier for the identity of a person
+#else
+// OpenCV 3
+	cv::Ptr<cv::ml::SVM> m_face_classifier; ///< classifier for the identity of a person
+#endif
 	boost::filesystem::path m_data_directory; ///< folder that contains the training data
 
 	// mutex

diff --git a/cob_people_detection/common/include/cob_people_detection/face_recognizer_algorithms.h b/cob_people_detection/common/include/cob_people_detection/face_recognizer_algorithms.h
@@ -1,15 +1,13 @@
-#include<opencv/cv.h>
-#include<iostream>
-#include<opencv/highgui.h>
-#include<opencv/ml.h>
-#include<fstream>
-#include<ostream>
-#include<limits>
-
-#include<cob_people_detection/subspace_analysis.h>
-
-#include<boost/filesystem.hpp>
-#include<boost/lexical_cast.hpp>
+#include <opencv2/opencv.hpp>
+#include <iostream>
+#include <fstream>
+#include <ostream>
+#include <limits>
+
+#include <cob_people_detection/subspace_analysis.h>
+
+#include <boost/filesystem.hpp>
+#include <boost/lexical_cast.hpp>
 
 namespace ipa_PeopleDetector
 {

diff --git a/cob_people_detection/common/include/cob_people_detection/head_detector.h b/cob_people_detection/common/include/cob_people_detection/head_detector.h
@@ -66,8 +66,7 @@
 #include "cob_vision/cob_vision_ipa_utils/common/include/cob_vision_ipa_utils/MathUtils.h"
 #include "cob_vision/cob_sensor_fusion/common/include/cob_sensor_fusion/ColoredPointCloud.h"	// todo: necessary?
 #endif
-#include <opencv/ml.h>
-#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 
 namespace ipa_PeopleDetector
 {

diff --git a/cob_people_detection/common/include/cob_people_detection/obsolete/people_detector.h b/cob_people_detection/common/include/cob_people_detection/obsolete/people_detector.h
@@ -15,8 +15,7 @@
 #endif
 #include <fstream>
 #include <set>
-#include <opencv/ml.h>
-#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 
 namespace ipa_PeopleDetector {
 
@@ -109,8 +108,14 @@ class PeopleDetector
 	/// @param eigenValMat Eigenvalues
 	/// @param personClassifier A classifier for person identification. It is trained in this function. Can be left out if a simpler identification method is used.
 	/// @return Return code
+#if CV_MAJOR_VERSION == 2
 	virtual unsigned long RecognizeFace(cv::Mat& colorImage, std::vector<cv::Rect>& colorFaces, int* nEigens, std::vector<cv::Mat>& eigenVectArr, cv::Mat& avgImage, cv::Mat& projectedTrainFaceMat,
 																			std::vector<int>& index, int *threshold, int *threshold_FS, cv::Mat& eigenValMat, cv::SVM* personClassifier = 0);
+#else
+// OpenCV 3
+	virtual unsigned long RecognizeFace(cv::Mat& colorImage, std::vector<cv::Rect>& colorFaces, int* nEigens, std::vector<cv::Mat>& eigenVectArr, cv::Mat& avgImage, cv::Mat& projectedTrainFaceMat,
+																			std::vector<int>& index, int *threshold, int *threshold_FS, cv::Mat& eigenValMat, cv::ml::SVM* personClassifier = 0);
+#endif
 
 	/// Function to find the closest face class
 	/// The function calculates the distance of each sample image to the trained face class
@@ -122,7 +127,12 @@ class PeopleDetector
 	/// @param eigenValMat Eigenvalues
 	/// @param personClassifier A classifier for person identification. It is trained in this function. Can be left out if a simpler identification method is used.
 	/// @return Return code
+#if CV_MAJOR_VERSION == 2
 	virtual unsigned long ClassifyFace(float *projectedTestFace, int *nearest, int *nEigens, cv::Mat& projectedTrainFaceMat, int *threshold, cv::Mat& eigenValMat, cv::SVM* personClassifier = 0);
+#else
+// OpenCV 3
+	virtual unsigned long ClassifyFace(float *projectedTestFace, int *nearest, int *nEigens, cv::Mat& projectedTrainFaceMat, int *threshold, cv::Mat& eigenValMat, cv::ml::SVM* personClassifier = 0);
+#endif
 
 	/// Function to calculate the FaceClasses
 	/// The function calculates the average eigenvector decomposition factors for each face classes.
@@ -133,7 +143,12 @@ class PeopleDetector
 	/// @param idUnique A vector containing all different Ids from the training session exactly once (idUnique[i] stores the corresponding id to the average face coordinates in the face subspace in faceClassAvgProjections.row(i))
 	/// @param personClassifier A classifier for person identification. It is trained in this function. Can be left out if a simpler identification method is used.
 	/// @return Return code
+#if CV_MAJOR_VERSION == 2
 	virtual unsigned long CalculateFaceClasses(cv::Mat& projectedTrainFaceMat, std::vector<std::string>& id, int *nEigens, cv::Mat& faceClassAvgProjections, std::vector<std::string>& idUnique, cv::SVM* personClassifier = 0);
+#else
+// OpenCV 3
+	virtual unsigned long CalculateFaceClasses(cv::Mat& projectedTrainFaceMat, std::vector<std::string>& id, int *nEigens, cv::Mat& faceClassAvgProjections, std::vector<std::string>& idUnique, cv::ml::SVM* personClassifier = 0);
+#endif
 
 	double m_faces_increase_search_scale;		///< The factor by which the search window is scaled between the subsequent scans
 	int m_faces_drop_groups;					///< Minimum number (minus 1) of neighbor rectangles that makes up an object.

diff --git a/cob_people_detection/common/include/cob_people_detection/subspace_analysis.h b/cob_people_detection/common/include/cob_people_detection/subspace_analysis.h
@@ -1,15 +1,13 @@
 #ifndef SSA_H_
 #define SSA_H_
 
-#include<opencv/cv.h>
-#include<iostream>
-#include<opencv/highgui.h>
-#include<opencv/ml.h>
-#include<fstream>
-#include<ostream>
-#include<limits>
-
-#include<math.h>
+#include <opencv2/opencv.hpp>
+#include <iostream>
+#include <fstream>
+#include <ostream>
+#include <limits>
+#include <math.h>
+
 namespace SubspaceAnalysis
 {
 

diff --git a/cob_people_detection/common/include/cob_people_detection/subspace_analysis_fuerte.h b/cob_people_detection/common/include/cob_people_detection/subspace_analysis_fuerte.h
@@ -1,15 +1,13 @@
 #ifndef SSA_H_
 #define SSA_H_
 
-#include<iostream>
-#include<opencv/cv.h>
-#include<opencv/highgui.h>
-#include<opencv/ml.h>
-#include<fstream>
-#include<ostream>
-#include<limits>
-
-#include<math.h>
+#include <opencv2/opencv.hpp>
+#include <iostream>
+#include <fstream>
+#include <ostream>
+#include <limits>
+#include <math.h>
+
 // Base class for SubSpace Analysis(SSA)
 //
 //

diff --git a/cob_people_detection/common/src/abstract_face_recognizer.cpp b/cob_people_detection/common/src/abstract_face_recognizer.cpp
@@ -69,8 +69,7 @@
 #include <fstream>
 
 // opencv
-#include <opencv/cv.h>
-#include <opencv/cvaux.h>
+#include <opencv2/opencv.hpp>
 
 using namespace ipa_PeopleDetector;
 

diff --git a/cob_people_detection/common/src/face_align_test.cpp b/cob_people_detection/common/src/face_align_test.cpp
@@ -1,7 +1,7 @@
-#include"cob_people_detection/face_normalizer.h"
-#include<iostream>
-#include<opencv/cv.h>
-#include<opencv/highgui.h>
+#include "cob_people_detection/face_normalizer.h"
+#include <iostream>
+#include <opencv2/opencv.hpp>
+
 int main(int argc, const char *argv[])
 {
 

diff --git a/cob_people_detection/common/src/face_detector.cpp b/cob_people_detection/common/src/face_detector.cpp
@@ -66,9 +66,7 @@
 #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/GlobalDefines.h"
 #endif
 
-#include <opencv/cv.h>
-#include <opencv/cvaux.h>
-#include <opencv/highgui.h>
+#include <opencv2/opencv.hpp>
 
 using namespace ipa_PeopleDetector;
 

diff --git a/cob_people_detection/common/src/face_normalizer_test.cpp b/cob_people_detection/common/src/face_normalizer_test.cpp
@@ -1,7 +1,7 @@
-#include"cob_people_detection/face_normalizer.h"
-#include<iostream>
-#include<opencv/cv.h>
-#include<opencv/highgui.h>
+#include "cob_people_detection/face_normalizer.h"
+#include <iostream>
+#include <opencv2/opencv.hpp>
+
 int main(int argc, const char *argv[])
 {