Revert changes to stereo calibrate

components/rgbd-sources/src/calibrate.cpp

@@ -391,16 +391,12 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
     double prevTimestamp = 0.0;
     const Scalar RED(0, 0, 255), GREEN(0, 255, 0);
 
-#if CV_VERSION_MAJOR >= 4
-	int chessBoardFlags = CALIB_CB_NORMALIZE_IMAGE;
-#else
     int chessBoardFlags = CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE;
 
     if (!settings_.useFisheye) {
         // fast check erroneously fails with high distortions like fisheye
         chessBoardFlags |= CALIB_CB_FAST_CHECK;
     }
-#endif
 
     for (;;) {
         Mat view[2];
@@ -436,41 +432,31 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
 
         vector<Point2f> pointBuf[2];
         bool found1, found2;
-#if CV_VERSION_MAJOR >= 4
-		found1 = findChessboardCornersSB(view[0], settings_.boardSize,
-				pointBuf[0], chessBoardFlags);
-		found2 = !local_->isStereo() || findChessboardCornersSB(view[1],
-			settings_.boardSize, pointBuf[1], chessBoardFlags);
-#else
 		found1 = findChessboardCorners(view[0], settings_.boardSize,
 				pointBuf[0], chessBoardFlags);
 		found2 = !local_->isStereo() || findChessboardCorners(view[1],
 				settings_.boardSize, pointBuf[1], chessBoardFlags);
-#endif
+
         if (found1 && found2 &&
         		local_->getTimestamp()-prevTimestamp > settings_.delay) {
 			prevTimestamp = local_->getTimestamp();
-#if CV_VERSION_MAJOR >=4
-			// findChessboardCornersSB() does not require subpixel step.
-#else
-			// improve the found corners' coordinate accuracy for chessboard.
+            // improve the found corners' coordinate accuracy for chessboard
                 Mat viewGray;
                 cvtColor(view[0], viewGray, COLOR_BGR2GRAY);
                 cornerSubPix(viewGray, pointBuf[0], Size(winSize, winSize),
                     Size(-1, -1), TermCriteria(
                     	TermCriteria::EPS+TermCriteria::COUNT, 30, 0.0001));
+                imagePoints[0].push_back(pointBuf[0]);
 
                 if (local_->isStereo()) {
                     cvtColor(view[1], viewGray, COLOR_BGR2GRAY);
                     cornerSubPix(viewGray, pointBuf[1], Size(winSize, winSize),
                         Size(-1, -1), TermCriteria(
                         	TermCriteria::EPS+TermCriteria::COUNT, 30, 0.0001));
+					imagePoints[1].push_back(pointBuf[1]);
                 }
-#endif
-			imagePoints[0].push_back(pointBuf[0]);
-			if (local_->isStereo()) { imagePoints[1].push_back(pointBuf[1]); }
-			// Draw the corners.
 
+                // Draw the corners.
                 drawChessboardCorners(view[0], settings_.boardSize,
                 		Mat(pointBuf[0]), found1);
                 if (local_->isStereo()) drawChessboardCorners(view[1],