From b6f31aa3fc025f1ecae8875fa0a2507a3fda5e57 Mon Sep 17 00:00:00 2001
From: Kei Okada <kei.okada@gmail.com>
Date: Fri, 14 Feb 2025 14:07:20 +0000
Subject: [PATCH] face_detection: fix for opencv4 (jammy/noble)

---
 launch/face_detection.launch | 10 ++++++++--
 test/CMakeLists.txt          |  5 ++++-
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/launch/face_detection.launch b/launch/face_detection.launch
index d0c9d8aa..8c33fc55 100644
--- a/launch/face_detection.launch
+++ b/launch/face_detection.launch
@@ -29,9 +29,15 @@
   <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="$(arg use_opencv3)"
+  <!-- if all use_opencv3 is true, but all other variable is false, then use /usr/share/opencv -->
+  <arg if="$(eval use_opencv3 and not use_opencv3_1 and not use_opencv3_2 and not use_opencv3_3 and not use_opencv4)"
        name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
-  <arg unless="$(arg use_opencv3)"
+  <arg if="$(eval use_opencv3 and not use_opencv3_1 and not use_opencv3_2 and not use_opencv3_3 and not use_opencv4)"
+       name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+  <!-- if all use_opencv* variable is false, then use /usr/share/opencv -->
+  <arg unless="$(eval use_opencv3 or use_opencv3_1 or use_opencv3_2 or use_opencv3_3 or use_opencv4)"
+       name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+  <arg unless="$(eval use_opencv3 or use_opencv3_1 or use_opencv3_2 or use_opencv3_3 or use_opencv4)"
        name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
 
   <!-- face_detection.cpp -->
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 7e38dc04..78f9e80d 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -80,9 +80,12 @@ elseif(OpenCV_VERSION VERSION_LESS "3.2")
 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()
+elseif(OpenCV_VERSION VERSION_LESS "3.4")
   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)
+else()
+  add_rostest(test-face_detection.test ARGS gui:=false use_opencv4:=true)
+  add_rostest(test-face_recognition.test ARGS gui:=false use_opencv4:=true)
 endif()
 add_rostest(test-goodfeature_track.test ARGS gui:=false)
 add_rostest(test-corner_harris.test ARGS gui:=false)