From a620ceb13396c0947ca9d3599b20099963898e11 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 25 Jan 2023 18:38:15 +0900
Subject: [PATCH 1/4] Fix arg condition when launching with opencv4

---
 launch/face_detection.launch | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/face_detection.launch b/launch/face_detection.launch
index d0c9d8aa..12b24450 100644
--- a/launch/face_detection.launch
+++ b/launch/face_detection.launch
@@ -3,7 +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="$(arg use_opencv3)" />
+  <arg name="use_opencv3_3" default="false" />
   <arg name="use_opencv4" default="false" />
 
   <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
@@ -29,9 +29,9 @@
   <arg if="$(arg use_opencv4)"
        name="eyes_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
 
-  <arg unless="$(arg use_opencv3)"
+  <arg if="$(arg use_opencv3)"
        name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
-  <arg unless="$(arg use_opencv3)"
+  <arg if="$(arg use_opencv3)"
        name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
 
   <!-- face_detection.cpp -->

From 0ff70d521670e3d5f7c1cfee3e621303d867d275 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 25 Jan 2023 18:38:50 +0900
Subject: [PATCH 2/4] Fix typo; dtection=>detection

---
 launch/face_detection.launch | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/launch/face_detection.launch b/launch/face_detection.launch
index 12b24450..ff0d77f0 100644
--- a/launch/face_detection.launch
+++ b/launch/face_detection.launch
@@ -13,26 +13,26 @@
   <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
 
   <arg if="$(arg use_opencv3_1)"
-       name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+       name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
   <arg if="$(arg use_opencv3_1)"
-       name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+       name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye detection cascade Filename" />
   <arg if="$(arg use_opencv3_2)"
-       name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+       name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
   <arg if="$(arg use_opencv3_2)"
-       name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+       name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye detection cascade Filename" />
   <arg if="$(arg use_opencv3_3)"
-       name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+       name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
   <arg if="$(arg use_opencv3_3)"
-       name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+       name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye detection cascade Filename" />
   <arg if="$(arg use_opencv4)"
-       name="face_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+       name="face_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
   <arg if="$(arg use_opencv4)"
-       name="eyes_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+       name="eyes_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye detection cascade Filename" />
 
   <arg if="$(arg use_opencv3)"
-       name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+       name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
   <arg if="$(arg use_opencv3)"
-       name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+       name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye detection cascade Filename" />
 
   <!-- face_detection.cpp -->
   <node name="$(arg node_name)" pkg="opencv_apps" type="face_detection"  >

From b6240620fd8420da8d1d88102d6ee6ed131cbefc Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 30 Jan 2023 17:34:38 +0900
Subject: [PATCH 3/4] DO NOT MERGE; test

---
 launch/face_detection.launch    | 15 +++++++++------
 launch/face_recognition.launch  |  2 +-
 test/test-face_detection.test   |  2 +-
 test/test-face_recognition.test |  2 +-
 4 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/launch/face_detection.launch b/launch/face_detection.launch
index ff0d77f0..abf1846a 100644
--- a/launch/face_detection.launch
+++ b/launch/face_detection.launch
@@ -4,7 +4,7 @@
   <arg name="use_opencv3_1" default="false" />
   <arg name="use_opencv3_2" default="false" />
   <arg name="use_opencv3_3" default="false" />
-  <arg name="use_opencv4" default="false" />
+  <arg name="use_opencv4" default="true" />
 
   <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
 
@@ -12,6 +12,12 @@
   <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
   <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
 
+
+  <arg if="$(eval use_opencv3==True and use_opencv4==False)"
+       name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
+  <arg if="$(eval use_opencv3==True and use_opencv4==False)"
+       name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye detection cascade Filename" />
+
   <arg if="$(arg use_opencv3_1)"
        name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
   <arg if="$(arg use_opencv3_1)"
@@ -24,16 +30,13 @@
        name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
   <arg if="$(arg use_opencv3_3)"
        name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye detection cascade Filename" />
+
+
   <arg if="$(arg use_opencv4)"
        name="face_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
   <arg if="$(arg use_opencv4)"
        name="eyes_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye detection cascade Filename" />
 
-  <arg if="$(arg use_opencv3)"
-       name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face detection cascade Filename" />
-  <arg if="$(arg use_opencv3)"
-       name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye detection cascade Filename" />
-
   <!-- face_detection.cpp -->
   <node name="$(arg node_name)" pkg="opencv_apps" type="face_detection"  >
     <remap from="image" to="$(arg image)" />
diff --git a/launch/face_recognition.launch b/launch/face_recognition.launch
index 34853eaf..20e1f0c4 100644
--- a/launch/face_recognition.launch
+++ b/launch/face_recognition.launch
@@ -2,7 +2,7 @@
   <arg name="launch_face_detection" default="true" />
   <arg name="launch_trainer" default="true" />
 
-  <arg name="use_opencv3" default="false" />
+  <arg name="use_opencv3" default="true" />
   <arg name="use_opencv3_1" default="false" />
   <arg name="use_opencv3_2" default="false" />
   <arg name="use_opencv3_3" default="false" />
diff --git a/test/test-face_detection.test b/test/test-face_detection.test
index 063c5e31..c174ea4b 100644
--- a/test/test-face_detection.test
+++ b/test/test-face_detection.test
@@ -1,6 +1,6 @@
 <launch>
   <arg name="gui" default="true" />
-  <arg name="use_opencv3" default="false" />
+  <arg name="use_opencv3" default="true" />
   <arg name="use_opencv3_1" default="false" />
   <arg name="use_opencv3_2" default="false" />
   <arg name="use_opencv3_3" default="false" />
diff --git a/test/test-face_recognition.test b/test/test-face_recognition.test
index d93f08d3..bb687f1b 100644
--- a/test/test-face_recognition.test
+++ b/test/test-face_recognition.test
@@ -1,6 +1,6 @@
 <launch>
   <arg name="gui" default="true" />
-  <arg name="use_opencv3" default="false" />
+  <arg name="use_opencv3" default="true" />
   <arg name="use_opencv3_1" default="false" />
   <arg name="use_opencv3_2" default="false" />
   <arg name="use_opencv3_3" default="false" />

From 22866352610f419fa6b7f1d7a5afd2dd84a90c50 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 30 Jan 2023 17:42:55 +0900
Subject: [PATCH 4/4] cmake version for catkin_lint

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 74500cd3..32c0dd42 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 2.8.12)
 project(opencv_apps)
 
 ## https://stackoverflow.com/questions/10984442/how-to-detect-c11-support-of-a-compiler-with-cmake