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diff --git a/launch/face_detection.launch b/launch/face_detection.launch
index aa75ca8..d42a244 100644
--- a/launch/face_detection.launch
+++ b/launch/face_detection.launch
@@ -2,7 +2,8 @@
<arg name="node_name" default="face_detection" />
<arg name="use_opencv3" default="false" />
<arg name="use_opencv3_1" default="false" />
- <arg name="use_opencv3_2" default="$(arg use_opencv3)" />
+ <arg name="use_opencv3_2" default="false" />
+ <arg name="use_opencv3_3" default="$(arg use_opencv3)" />
<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
@@ -17,6 +18,10 @@
name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
<arg if="$(arg use_opencv3_2)"
name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+ <arg if="$(arg use_opencv3_3)"
+ name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+ <arg if="$(arg use_opencv3_3)"
+ name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
<arg unless="$(arg use_opencv3)"
name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
<arg unless="$(arg use_opencv3)"
diff --git a/launch/face_recognition.launch b/launch/face_recognition.launch
index b7dbca8..9667d63 100644
--- a/launch/face_recognition.launch
+++ b/launch/face_recognition.launch
@@ -5,6 +5,7 @@
<arg name="use_opencv3" default="false" />
<arg name="use_opencv3_1" default="false" />
<arg name="use_opencv3_2" default="false" />
+ <arg name="use_opencv3_3" default="false" />
<arg name="debug_view" default="true" />
<arg name="image" default="image" />
@@ -18,6 +19,7 @@
<arg name="use_opencv3" value="$(arg use_opencv3)" />
<arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
<arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
+ <arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
</include>
<node name="face_recognition" pkg="opencv_apps" type="face_recognition"
diff --git a/src/nodelet/face_recognition_nodelet.cpp b/src/nodelet/face_recognition_nodelet.cpp
index 24b8051..487d6d7 100644
--- a/src/nodelet/face_recognition_nodelet.cpp
+++ b/src/nodelet/face_recognition_nodelet.cpp
@@ -463,16 +463,34 @@ namespace face_recognition {
if (need_recreate_model) {
try {
if (config.model_method == "eigen") {
+// https://docs.opencv.org/3.3.1/da/d60/tutorial_face_main.html
+#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
+ model_ = face::EigenFaceRecognizer::create(config.model_num_components,
+ config.model_threshold);
+#else
model_ = face::createEigenFaceRecognizer(config.model_num_components,
config.model_threshold);
+#endif
} else if (config.model_method == "fisher") {
+#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
+ model_ = face::FisherFaceRecognizer::create(config.model_num_components,
+ config.model_threshold);
+#else
model_ = face::createFisherFaceRecognizer(config.model_num_components,
config.model_threshold);
+#endif
} else if (config.model_method == "LBPH") {
+#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
+ model_ = face::LBPHFaceRecognizer::create(config.lbph_radius,
+ config.lbph_neighbors,
+ config.lbph_grid_x,
+ config.lbph_grid_y);
+#else
model_ = face::createLBPHFaceRecognizer(config.lbph_radius,
config.lbph_neighbors,
config.lbph_grid_x,
config.lbph_grid_y);
+#endif
}
need_retrain = true;
} catch (cv::Exception &e) {
diff --git a/src/nodelet/lk_flow_nodelet.cpp b/src/nodelet/lk_flow_nodelet.cpp
index 24825ad..533e5ab 100644
--- a/src/nodelet/lk_flow_nodelet.cpp
+++ b/src/nodelet/lk_flow_nodelet.cpp
@@ -159,7 +159,7 @@ class LKFlowNodelet : public opencv_apps::Nodelet
if( needToInit )
{
// automatic initialization
- cv::goodFeaturesToTrack(gray, points[1], MAX_COUNT, 0.01, 10, cv::Mat(), 3, 0, 0.04);
+ cv::goodFeaturesToTrack(gray, points[1], MAX_COUNT, 0.01, 10, cv::Mat(), 3, false, 0.04);
cv::cornerSubPix(gray, points[1], subPixWinSize, cv::Size(-1,-1), termcrit);
addRemovePt = false;
}
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 8d0e7b2..5f713e7 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -43,14 +43,15 @@ if(cv_bridge_VERSION VERSION_LESS "1.11.9") # hydro skip face_detection.test
elseif(OpenCV_VERSION VERSION_LESS "3.0")
add_rostest(test-face_detection.test ARGS gui:=false)
add_rostest(test-face_recognition.test ARGS gui:=false)
+elseif(OpenCV_VERSION VERSION_LESS "3.2")
+ add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_1:=true)
+ add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_1:=true)
+elseif(OpenCV_VERSION VERSION_LESS "3.3")
+ add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
+ add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
else()
- if(OpenCV_VERSION VERSION_LESS "3.2")
- add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_1:=true)
- add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_1:=true)
- else()
- add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
- add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
- endif()
+ add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_3:=true)
+ add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_3:=true)
endif()
add_rostest(test-goodfeature_track.test ARGS gui:=false)
add_rostest(test-corner_harris.test ARGS gui:=false)
diff --git a/test/test-face_detection.test b/test/test-face_detection.test
index decd9b9..fb60405 100644
--- a/test/test-face_detection.test
+++ b/test/test-face_detection.test
@@ -3,6 +3,7 @@
<arg name="use_opencv3" default="false" />
<arg name="use_opencv3_1" default="false" />
<arg name="use_opencv3_2" default="false" />
+ <arg name="use_opencv3_3" default="false" />
<node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
<group ns="wide_stereo/left" >
@@ -16,6 +17,7 @@
<arg name="use_opencv3" value="$(arg use_opencv3)" />
<arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
<arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
+ <arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
</include>
<node name="face_image_viewer" pkg="image_view" type="image_view">
diff --git a/test/test-face_recognition.test b/test/test-face_recognition.test
index fd8a1b2..a4606b4 100644
--- a/test/test-face_recognition.test
+++ b/test/test-face_recognition.test
@@ -3,6 +3,7 @@
<arg name="use_opencv3" default="false" />
<arg name="use_opencv3_1" default="false" />
<arg name="use_opencv3_2" default="false" />
+ <arg name="use_opencv3_3" default="false" />
<node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
<group ns="wide_stereo/left" >
@@ -18,6 +19,7 @@
<arg name="use_opencv3" value="$(arg use_opencv3)" />
<arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
<arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
+ <arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
<arg name="data_dir" value="$(find opencv_apps)/test/face_data" />
</include>
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