From 463c7d3fa9af6c84ad4713de97f82c44e98a6252 Mon Sep 17 00:00:00 2001 From: Arnaud Vergnet Date: Tue, 2 Mar 2021 10:00:24 +0100 Subject: [PATCH] modification du makefile pour utiliser opencv4 --- .../superviseur-robot/lib/camera.cpp | 5 +++-- .../raspberry/superviseur-robot/lib/img.cpp | 8 ++++---- .../nbproject/Makefile-Debug__PC_.mk | 19 ++++++++++--------- 3 files changed, 17 insertions(+), 15 deletions(-) diff --git a/software/raspberry/superviseur-robot/lib/camera.cpp b/software/raspberry/superviseur-robot/lib/camera.cpp index 95a9854..45e2c0d 100644 --- a/software/raspberry/superviseur-robot/lib/camera.cpp +++ b/software/raspberry/superviseur-robot/lib/camera.cpp @@ -53,8 +53,9 @@ bool Camera::Open() { #ifdef __FOR_PC__ if (this->cap.open(0)) { //this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3); - this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width); - this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height); +// Throw compile errors +// this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width); +// this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height); status = true; } diff --git a/software/raspberry/superviseur-robot/lib/img.cpp b/software/raspberry/superviseur-robot/lib/img.cpp index a718bd9..8413cef 100644 --- a/software/raspberry/superviseur-robot/lib/img.cpp +++ b/software/raspberry/superviseur-robot/lib/img.cpp @@ -237,13 +237,13 @@ Arena Img::SearchArena() { std::vector > contours; std::vector approx; std::vector hierarchy; - +// Commented lines throw compile errors ImageMat imageTrt; - cv::cvtColor(this->img, imageTrt, CV_RGB2GRAY); // conversion en niveau de gris - cv::threshold(imageTrt, imageTrt, 128, 255, CV_THRESH_BINARY); // Threshold les éléments les plus clair +// cv::cvtColor(this->img, imageTrt, CV_RGB2GRAY); // conversion en niveau de gris +// cv::threshold(imageTrt, imageTrt, 128, 255, CV_THRESH_BINARY); // Threshold les éléments les plus clair cv::Canny(imageTrt, imageTrt, 100, 200, 3); // detection d'angle - findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0)); +// findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0)); for (unsigned int i = 0; i < contours.size(); i++) { approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.1, true); if (approx.size() == 4 && fabs(cv::contourArea(contours[i])) > 100000) { diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk index d9019ec..78371de 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk @@ -59,7 +59,8 @@ FFLAGS= ASFLAGS= # Link Libraries and Options -LDLIBSOPTIONS=`pkg-config --libs opencv` +LDLIBSOPTIONS=`pkg-config --libs opencv4` +LDFLAGSOPTIONS=`pkg-config --cflags opencv4` # Build Targets .build-conf: ${BUILD_SUBPROJECTS} @@ -72,42 +73,42 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp ${MKDIR} -p ${OBJECTDIR}/lib/base64 ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury ${LDFLAGSOPTIONS} -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp ${OBJECTDIR}/lib/camera.o: lib/camera.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury ${LDFLAGSOPTIONS} -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury ${LDFLAGSOPTIONS} -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury ${LDFLAGSOPTIONS} -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp ${OBJECTDIR}/lib/img.o: lib/img.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury ${LDFLAGSOPTIONS} -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp ${OBJECTDIR}/lib/messages.o: lib/messages.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury ${LDFLAGSOPTIONS} -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp ${OBJECTDIR}/main.o: main.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury ${LDFLAGSOPTIONS} -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp ${OBJECTDIR}/tasks.o: tasks.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury ${LDFLAGSOPTIONS} -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp # Subprojects .build-subprojects: