Opencv 3 compatibility (#564)

* Remove GTK from image_view. It is no longer used at all in image_view. Signed-off-by: Chris Lalancette <[email protected]> * Reinstate OpenCV 3 compatibility. While Foxy only supports Ubuntu 20.04 (and hence OpenCV 4), we still strive to maintain Ubuntu 18.04 (which has OpenCV 3). In this case, it is trivial to keep keep image_pipeline working with OpenCV 3, so reintroduce compatibility with it. Signed-off-by: Chris Lalancette <[email protected]> * Fixes from review. Signed-off-by: Chris Lalancette <[email protected]> * One more fix. Signed-off-by: Chris Lalancette <[email protected]>
ros-perception · Jul 15, 2020 · 2e0c6d4 · 2e0c6d4
1 parent 8604154
commit 2e0c6d4
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Showing 5 changed files with 10 additions and 9 deletions.
diff --git a/image_proc/CMakeLists.txt b/image_proc/CMakeLists.txt
@@ -18,7 +18,10 @@ find_package(rcutils REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(OpenCV 4 REQUIRED)
+find_package(OpenCV REQUIRED)
+if(OpenCV_VERSION VERSION_LESS "3.2.0")
+  message(FATAL "Minimum OpenCV version is 3.2.0 (found version ${OpenCV_VERSION})")
+endif()
 find_package(image_geometry REQUIRED)
 
 include_directories(

diff --git a/image_proc/src/crop_decimate.cpp b/image_proc/src/crop_decimate.cpp
@@ -46,7 +46,12 @@ void debayer2x2toBGR(
   int R, int G1, int G2, int B)
 {
   typedef cv::Vec<T, 3> DstPixel;  // 8- or 16-bit BGR
+#if CV_VERSION_MAJOR >= 4
   dst.create(src.rows / 2, src.cols / 2, cv::traits::Type<DstPixel>::value);
+#else
+  // Assume OpenCV 3 API
+  dst.create(src.rows / 2, src.cols / 2, cv::DataType<DstPixel>::type);
+#endif
 
   int src_row_step = src.step1();
   int dst_row_step = dst.step1();

diff --git a/image_publisher/CMakeLists.txt b/image_publisher/CMakeLists.txt
@@ -29,9 +29,8 @@ set( DEPENDENCIES
   cv_bridge
 )
 
-find_package(OpenCV REQUIRED COMPONENTS core)
+find_package(OpenCV REQUIRED COMPONENTS core imgcodecs videoio)
 message(STATUS "opencv version ${OpenCV_VERSION}")
-find_package(OpenCV 4 REQUIRED COMPONENTS ${opencv_4_components})
 
 include_directories(include)
 

diff --git a/image_view/CMakeLists.txt b/image_view/CMakeLists.txt
@@ -33,10 +33,6 @@ if(ANDROID)
   return()
 endif()
 
-find_package(GTK3)
-add_definitions(-DHAVE_GTK)
-include_directories(${GTK3_INCLUDE_DIRS})
-
 add_library(image_view_nodes SHARED
   src/disparity_view_node.cpp
   src/extract_images_node.cpp
@@ -56,7 +52,6 @@ ament_target_dependencies(image_view_nodes
   stereo_msgs
 )
 target_link_libraries(image_view_nodes
-  ${GTK3_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${Boost_LIBRARIES}
 )

diff --git a/image_view/package.xml b/image_view/package.xml
@@ -18,7 +18,6 @@
 
   <depend>camera_calibration_parsers</depend>
   <depend>cv_bridge</depend>
-  <depend>gtk3</depend>
   <depend>image_transport</depend>
   <depend>message_filters</depend>
   <depend>rclcpp</depend>