Opencv 3 compatibility #564
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It is no longer used at all in image_view. Signed-off-by: Chris Lalancette <[email protected]>
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]>
dirk-thomas
reviewed
Jul 15, 2020
image_proc/src/crop_decimate.cpp
Outdated
| @@ -46,7 +46,13 @@ void debayer2x2toBGR( | |||
| int R, int G1, int G2, int B) | |||
| { | |||
| typedef cv::Vec<T, 3> DstPixel; // 8- or 16-bit BGR | |||
| dst.create(src.rows / 2, src.cols / 2, cv::traits::Type<DstPixel>::value); | |||
| #if CV_VERSION_MAJOR >= 3 && CV_VERSION_MINOR >= 2 | |||
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This condition looks wrong. Version 4.0 / 4.1 would evaluate to FALSE and 4.2 would evaluate to TRUE.
Since on a CMake level we already assert 3.2 or higher I would swap the blocks and just check for CV_VERSION_MAJOR >= 4.
SteveMacenski
approved these changes
Jul 15, 2020
Signed-off-by: Chris Lalancette <[email protected]>
dirk-thomas
approved these changes
Jul 15, 2020
Signed-off-by: Chris Lalancette <[email protected]>
dirk-thomas
approved these changes
Jul 15, 2020
|
CI failed because camera_calibration test failed. It looks like a fix for that is here: ros-perception/vision_opencv#342 . But its not released yet. I'll see about getting a release done for it. Suffice it to say, this PR didn't cause that particular failure, so I think this is good to go. |
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Thanks everyone! |
JWhitleyWork
pushed a commit
that referenced
this pull request
Jul 15, 2020
* 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]>
JWhitleyWork
pushed a commit
that referenced
this pull request
Jul 15, 2020
* 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]> Co-authored-by: Chris Lalancette <[email protected]>
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@clalancette Are you doing the new release with this change or do you want me to? Edit: Same question for Dashing. |
It would be great if you could. Thanks. |
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Foxy: ros/rosdistro#25958 |
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Thank you! |
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This PR reinstates 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.
Along with this, remove the dependency on GTK3. It fails on Ubuntu 18.04, but it actually doesn't matter since there is no usage of the GTK API anywhere in the code.