Merge pull request #391 from thp/cv3-fixed

OpenCV 3 and build system updates

.travis.yml

@@ -1,19 +1,19 @@
 matrix:
   include:
     - os: linux
-      dist: trusty
+      dist: bionic
       sudo: required
       language: cpp
       compiler: clang
       env: BUILD_TYPE=linux-native-clang
     - os: linux
-      dist: trusty
+      dist: bionic
       sudo: required
       language: cpp
       compiler: gcc
       env: BUILD_TYPE=linux-cross-mingw64
     - os: linux
-      dist: trusty
+      dist: bionic
       sudo: required
       language: cpp
       compiler: gcc

examples/CMakeLists.txt

@@ -29,15 +29,8 @@ if(PSMOVE_BUILD_EXAMPLES)
         set(GLFW_BUILD_TESTS OFF CACHE BOOL "")
         add_subdirectory(${ROOT_DIR}/external/glfw EXCLUDE_FROM_ALL)
 
-	# C examples
-        foreach(EXAMPLE distance_calibration)
-            add_executable(${EXAMPLE} ${CMAKE_CURRENT_LIST_DIR}/c/${EXAMPLE}.c)
-            target_link_libraries(${EXAMPLE} psmoveapi psmoveapi_tracker)
-			set_property(TARGET ${EXAMPLE} PROPERTY FOLDER "Utilities") 
-        endforeach()
-
 	# C++ examples
-        foreach(EXAMPLE tracker_camera_calibration)
+        foreach(EXAMPLE tracker_camera_calibration distance_calibration)
             add_executable(${EXAMPLE} ${CMAKE_CURRENT_LIST_DIR}/c/${EXAMPLE}.cpp)
             target_link_libraries(${EXAMPLE} psmoveapi psmoveapi_tracker)
 			set_property(TARGET ${EXAMPLE} PROPERTY FOLDER "Utilities") 
@@ -49,7 +42,7 @@ endif()
 if(PSMOVE_BUILD_TESTS)
     if(PSMOVE_BUILD_TRACKER)
         foreach(TESTNAME tracker )
-            add_executable(test_${TESTNAME} ${CMAKE_CURRENT_LIST_DIR}/c/test_${TESTNAME}.c)
+            add_executable(test_${TESTNAME} ${CMAKE_CURRENT_LIST_DIR}/c/test_${TESTNAME}.cpp)
             target_link_libraries(test_${TESTNAME} psmoveapi psmoveapi_tracker)
 			set_property(TARGET test_${TESTNAME} PROPERTY FOLDER "Utilities") 
         endforeach(TESTNAME)

examples/c/distance_calibration.c → examples/c/distance_calibration.cpp

@@ -32,6 +32,7 @@
 #include <time.h>
 #include <assert.h>
 
+#include "opencv2/opencv_modules.hpp"
 #include "opencv2/core/core_c.h"
 #include "opencv2/highgui/highgui_c.h"
 

scripts/install_dependencies.sh

@@ -7,16 +7,15 @@ UNAME=$(uname)
 
 case "$UNAME" in
     Linux)
-        sudo add-apt-repository --yes ppa:kubuntu-ppa/backports
-        sudo add-apt-repository --yes ppa:hlprasu/swig-trusty-backports
         sudo apt-get update -qq
         sudo apt-get install -q -y mingw-w64 g++-mingw-w64
         sudo apt-get install -q -y build-essential cmake             \
                                    libudev-dev libbluetooth-dev      \
                                    libv4l-dev libopencv-dev          \
-                                   openjdk-7-jdk ant liblwjgl-java   \
+                                   openjdk-8-jdk ant liblwjgl-java   \
                                    python-dev mono-mcs               \
                                    swig3.0 freeglut3-dev             \
+                                   libxrandr-dev libxinerama-dev libxcursor-dev \
                                    python-sphinx python-pip
 
         # Workaround to get BlueZ 5 on Travis CI (it doesn't yet have Ubuntu 16.04)

scripts/macos/build-macos

@@ -48,7 +48,7 @@ fi
 if [ ! -d "$OPENCV_INSTALL_DIR" ]; then
     cd external
     if [ ! -d opencv ]; then
-		git clone --depth 1 --branch 2.4 git://github.com/opencv/opencv.git
+		git clone --depth 1 --branch 3.4 git://github.com/opencv/opencv.git
     fi
     cd opencv
 

scripts/mingw64/cross-compile

@@ -18,7 +18,7 @@ fi
 PSMOVEAPI_PLATFORM="$1"
 shift
 
-OPENCV_VERSION=2.4
+OPENCV_VERSION=3.4.7
 PSMOVEAPI_VERSION=$(git describe --tags)
 
 MAKE_ARGS="$@"
@@ -32,6 +32,12 @@ if [ ! -f $TOOLCHAIN ]; then
     exit 1
 fi
 
+# Set POSIX Threads for MinGW (https://stackoverflow.com/a/53528371)
+sudo update-alternatives --set i686-w64-mingw32-gcc /usr/bin/i686-w64-mingw32-gcc-posix
+sudo update-alternatives --set i686-w64-mingw32-g++ /usr/bin/i686-w64-mingw32-g++-posix
+sudo update-alternatives --set x86_64-w64-mingw32-gcc /usr/bin/x86_64-w64-mingw32-gcc-posix
+sudo update-alternatives --set x86_64-w64-mingw32-g++ /usr/bin/x86_64-w64-mingw32-g++-posix
+
 # Build OpenCV
 if [ ! -d external/opencv ]; then
     if [ ! -f ${OPENCV_VERSION}.zip ]; then

scripts/visualc/build_msvc.bat

@@ -56,7 +56,7 @@ IF !ERRORLEVEL! NEQ 0 (
 REM Clone OpenCV
 IF NOT EXIST %OPENCV_DIR% (
 	cd %PSMOVE_API_EXTERNAL_DIR%
-	git clone --depth 1 --branch 2.4 git://github.com/opencv/opencv.git
+	git clone --depth 1 --branch 3.4 git://github.com/opencv/opencv.git
 ) ELSE (
 	echo.
 	echo OpenCV dir already exists; assuming it has been cloned already

src/tracker/CMakeLists.txt

@@ -28,7 +28,7 @@ ENDIF()
 
 # 1 - OpenCV
 IF(PSMOVE_BUILD_TRACKER)
-    FIND_PACKAGE(OpenCV 2 QUIET)
+    FIND_PACKAGE(OpenCV 3 QUIET)
     IF(OpenCV_FOUND)
         IF ("${OpenCV_LIBS}" STREQUAL "")
             message("OpenCV Libs was empty! Manually setting.")
@@ -71,7 +71,7 @@ IF(PSMOVE_BUILD_TRACKER)
             ${AVFOUNDATION})
     ELSEIF(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
         list(APPEND PSMOVEAPI_TRACKER_PLATFORM_SRC
-            ${CMAKE_CURRENT_LIST_DIR}/platform/camera_control_win32.c)
+            ${CMAKE_CURRENT_LIST_DIR}/platform/camera_control_win32.cpp)
         list(APPEND PSMOVEAPI_TRACKER_REQUIRED_LIBS vfw32 comctl32)
         #OpenCV extra dependencies: comctl32 gdi32 ole32 setupapi ws2_32 vfw32
         IF(MINGW)

src/tracker/camera_control.h

@@ -27,14 +27,14 @@
  * POSSIBILITY OF SUCH DAMAGE.
  **/
 
+#include "opencv2/core/core_c.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 #include "psmove.h"
 #include "../psmove_private.h"
-#include "opencv2/core/core_c.h"
 
 struct _CameraControl;
 typedef struct _CameraControl CameraControl;

src/tracker/camera_control_private.h

@@ -33,6 +33,7 @@
 #include "opencv2/core/core_c.h"
 #include "opencv2/highgui/highgui_c.h"
 #include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/videoio/videoio_c.h"
 
 #if defined(WIN32)
 #    include <windows.h>