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Opencv 3 compatibility #564

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merged 4 commits into from
Jul 15, 2020
Merged

Opencv 3 compatibility #564

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8b98f1d
Remove GTK from image_view.
clalancette Jul 15, 2020
9873b9f
Reinstate OpenCV 3 compatibility.
clalancette Jul 15, 2020
0f89559
Fixes from review.
clalancette Jul 15, 2020
99a5f75
One more fix.
clalancette Jul 15, 2020
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5 changes: 4 additions & 1 deletion image_proc/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
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8 changes: 7 additions & 1 deletion image_proc/src/crop_decimate.cpp
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Expand Up @@ -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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@dirk-thomas dirk-thomas Jul 15, 2020 •
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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.

// Use OpenCV 3 API
dst.create(src.rows / 2, src.cols / 2, cv::DataType<DstPixel>::type);
#else
// Assume OpenCV 4
dst.create(src.rows / 2, src.cols / 2, cv::traits::DataType<DstPixel>::type);
#endif

int src_row_step = src.step1();
int dst_row_step = dst.step1();
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3 changes: 1 addition & 2 deletions image_publisher/CMakeLists.txt
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Expand Up @@ -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)

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5 changes: 0 additions & 5 deletions image_view/CMakeLists.txt
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Expand Up @@ -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
Expand All @@ -56,7 +52,6 @@ ament_target_dependencies(image_view_nodes
stereo_msgs
)
target_link_libraries(image_view_nodes
${GTK3_LIBRARIES}
${OpenCV_LIBRARIES}
${Boost_LIBRARIES}
)
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1 change: 0 additions & 1 deletion image_view/package.xml
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Expand Up @@ -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>
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