From 27ca72fe18ce0638a7e64eb13b3c71df09ce71f6 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 31 Aug 2021 22:23:46 -0400
Subject: Changes so that I can build in 2021

Needed to use the cv namespace for some defines when building with the default opencv4 development library provided with Fedora
---
 src/main.cpp   |  1 +
 src/vision.cpp | 12 +++++-------
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index f1bcd30..1c91692 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -419,6 +419,7 @@ parseLine(char *line, message *data)
         fprintf(stderr, "Message type %s is unknown, quitting.\n", msg_type);
         exit(1);
     }
+    return 0;
 }
 
 /* 
diff --git a/src/vision.cpp b/src/vision.cpp
index 0f2b4f9..8cdd3bc 100644
--- a/src/vision.cpp
+++ b/src/vision.cpp
@@ -47,10 +47,10 @@ Vision::open ( const char *fn, const Camera &cam )
         fprintf(stderr, "Could not read %s.\n", fn);
         exit(1);
     }
-    cv::cvtColor(bayered, unbayered, CV_BayerBG2BGR ,3);
+    cv::cvtColor(bayered, unbayered, cv::COLOR_BayerBG2BGR ,3);
     cv::undistort( unbayered, undistorted, cam.K(1), cam.d(1));
     undistorted.convertTo(original, CV_32FC3);
-    cv::cvtColor(original, gray, CV_BGR2GRAY);
+    cv::cvtColor(original, gray, cv::COLOR_BGR2GRAY);
     display = undistorted.clone();
     return ;
 }		/* -----  end of method Vision::open  ----- */
@@ -259,9 +259,9 @@ Vision::measure ( const Camera &cam, const measurement_t &zin, measurement_t &zo
         Mat result;
         result.create( sr.cols-zin.patch.cols+1, sr.rows-zin.patch.rows+1, CV_32FC1 );
         if (zin.z_type==MONO) {
-            matchTemplate( sr, zin.patch, result, CV_TM_CCOEFF_NORMED);
+            matchTemplate( sr, zin.patch, result, cv::TM_CCOEFF_NORMED);
         } else {
-            matchTemplate( sr, zin.refpatch, result, CV_TM_CCOEFF_NORMED);
+            matchTemplate( sr, zin.refpatch, result, cv::TM_CCOEFF_NORMED);
         }
 
         // Mask the ellipse around the result.
@@ -291,7 +291,6 @@ Vision::measure ( const Camera &cam, const measurement_t &zin, measurement_t &zo
         }
         zout.xcorrmax = maxval;
 
-        /*
         Mat sr8, patch8, rpatch8;
         sr.convertTo(sr8, CV_8UC1);
         zin.patch.convertTo(patch8, CV_8UC1);
@@ -307,8 +306,7 @@ Vision::measure ( const Camera &cam, const measurement_t &zin, measurement_t &zo
         cv::imshow("mask", mask);
         cv::imshow("display2", display);
         cerr << maxval << endl;
-        cv::waitKey(0);
-        */
+        cv::waitKey(1);
     } else {
         zout.xcorrmax = -1.;
     }
-- 
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