{melodic} add opencvl-3.4.5 from meta-openembedded/warrior

* ar-track-alvar in melodic is currently the only component not updated to work with
  openCV 4 included in meta-openembedded/zeus
* there is ticket in upstream repo asking for OpenCV support:
  ros-perception/ar_track_alvar#77
  but no progress there, I have some WIP changes to make it compatible, but it's using
  *a lot* of changed OpenCV APIs and I haven't finished migration (nor plan to properly
  test it in runtime)

Signed-off-by: Martin Jansa <[email protected]>

meta-ros1-melodic/recipes-support/opencv/opencv/0001-3rdparty-ippicv-Use-pre-downloaded-ipp.patch

@@ -0,0 +1,38 @@
+From 4801a057730632225337d7f6d26b9335e6b9b078 Mon Sep 17 00:00:00 2001
+From: Ricardo Ribalda Delgado <[email protected]>
+Date: Thu, 31 Mar 2016 00:20:15 +0200
+Subject: [PATCH] 3rdparty/ippicv: Use pre-downloaded ipp
+
+Signed-off-by: Ricardo Ribalda Delgado <[email protected]>
+Signed-off-by: Ismo Puustinen <[email protected]>
+---
+ 3rdparty/ippicv/ippicv.cmake | 15 +--------------
+ 1 file changed, 1 insertion(+), 14 deletions(-)
+
+diff --git a/3rdparty/ippicv/ippicv.cmake b/3rdparty/ippicv/ippicv.cmake
+index d601da4bb..f6fc1098c 100644
+--- a/3rdparty/ippicv/ippicv.cmake
++++ b/3rdparty/ippicv/ippicv.cmake
+@@ -39,18 +39,5 @@ function(download_ippicv root_var)
+   endif()
+
+   set(THE_ROOT "${OpenCV_BINARY_DIR}/3rdparty/ippicv")
+-  ocv_download(FILENAME ${OPENCV_ICV_NAME}
+-               HASH ${OPENCV_ICV_HASH}
+-               URL
+-                 "${OPENCV_IPPICV_URL}"
+-                 "$ENV{OPENCV_IPPICV_URL}"
+-                 "https://raw.githubusercontent.com/opencv/opencv_3rdparty/${IPPICV_COMMIT}/ippicv/"
+-               DESTINATION_DIR "${THE_ROOT}"
+-               ID IPPICV
+-               STATUS res
+-               UNPACK RELATIVE_URL)
+-
+-  if(res)
+-    set(${root_var} "${THE_ROOT}/${OPENCV_ICV_PACKAGE_SUBDIR}" PARENT_SCOPE)
+-  endif()
++  set(${root_var} "${THE_ROOT}/${OPENCV_ICV_PACKAGE_SUBDIR}" PARENT_SCOPE)
+ endfunction()
+-- 
+2.13.4
+

meta-ros1-melodic/recipes-support/opencv/opencv/0001-Dont-use-isystem.patch

@@ -0,0 +1,30 @@
+From 7144c44ec70dee73a628463b99ffeed74b1a8ef6 Mon Sep 17 00:00:00 2001
+From: Khem Raj <[email protected]>
+Date: Tue, 11 Sep 2018 00:21:18 -0700
+Subject: [PATCH] Dont use isystem
+
+clang really does not like it
+
+Upstream-Status: Pending
+
+Signed-off-by: Khem Raj <[email protected]>
+---
+ cmake/OpenCVPCHSupport.cmake | 2 ++
+ 1 file changed, 2 insertions(+)
+
+diff --git a/cmake/OpenCVPCHSupport.cmake b/cmake/OpenCVPCHSupport.cmake
+index f9b1b48b65..fe27a136f5 100644
+--- a/cmake/OpenCVPCHSupport.cmake
++++ b/cmake/OpenCVPCHSupport.cmake
+@@ -18,6 +18,8 @@ IF(CV_GCC)
+         SET(PCHSupport_FOUND TRUE)
+     ENDIF()
+
++    SET(CMAKE_INCLUDE_SYSTEM_FLAG_C "-I")
++    SET(CMAKE_INCLUDE_SYSTEM_FLAG_CXX "-I")
+     SET(_PCH_include_prefix "-I")
+     SET(_PCH_isystem_prefix "-isystem")
+     SET(_PCH_define_prefix "-D")
+-- 
+2.18.0
+

meta-ros1-melodic/recipes-support/opencv/opencv/0001-Temporarliy-work-around-deprecated-ffmpeg-RAW-functi.patch

@@ -0,0 +1,33 @@
+From 7d31f41d2a6759e244983504ce855fc32916b97a Mon Sep 17 00:00:00 2001
+From: Jason Wessel <[email protected]>
+Date: Wed, 9 May 2018 13:33:59 -0700
+Subject: [PATCH] Temporarliy work around deprecated ffmpeg RAW function
+ compile failure until next uprev
+
+Signed-off-by: Jason Wessel <[email protected]>
+---
+ modules/videoio/src/cap_ffmpeg_impl.hpp | 8 ++++++++
+ 1 file changed, 8 insertions(+)
+
+diff --git a/modules/videoio/src/cap_ffmpeg_impl.hpp b/modules/videoio/src/cap_ffmpeg_impl.hpp
+index 5a9b10f075..97c6b74b07 100644
+--- a/modules/videoio/src/cap_ffmpeg_impl.hpp
++++ b/modules/videoio/src/cap_ffmpeg_impl.hpp
+@@ -667,6 +667,14 @@ struct ImplMutex::Impl
+
+ #endif
+
++/* NOTE This is deprecated in ffmpeg and the code should be removed */
++#ifndef AVFMT_RAWPICTURE
++#define AVFMT_RAWPICTURE	0x0020
++#endif /* AVFMT_RAWPICTURE */
++#ifndef CODEC_FLAG_GLOBAL_HEADER
++#define CODEC_FLAG_GLOBAL_HEADER	AV_CODEC_FLAG_GLOBAL_HEADER
++#endif
++
+ void ImplMutex::init()
+ {
+     impl = new Impl();
+-- 
+2.11.0
+

meta-ros1-melodic/recipes-support/opencv/opencv/0002-Make-opencv-ts-create-share-library-intead-of-static.patch

@@ -0,0 +1,26 @@
+From 350525293aef65490e80104ddd99e1b21c5d54b0 Mon Sep 17 00:00:00 2001
+From: Bian Naimeng <[email protected]>
+Date: Wed, 19 Apr 2017 03:11:37 +0900
+Subject: [PATCH 2/3] Make opencv-ts create share library intead of static.
+
+Signed-off-by: Lei Maohui <[email protected]>
+---
+ modules/ts/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/modules/ts/CMakeLists.txt b/modules/ts/CMakeLists.txt
+index f95bed079..ee67858df 100644
+--- a/modules/ts/CMakeLists.txt
++++ b/modules/ts/CMakeLists.txt
+@@ -4,7 +4,7 @@ if(NOT BUILD_opencv_ts AND NOT BUILD_TESTS AND NOT BUILD_PERF_TESTS)
+   ocv_module_disable(ts)
+ endif()
+
+-set(OPENCV_MODULE_TYPE STATIC)
++#set(OPENCV_MODULE_TYPE STATIC)
+ set(OPENCV_MODULE_IS_PART_OF_WORLD FALSE)
+
+ if(WINRT)
+-- 
+2.13.4
+

meta-ros1-melodic/recipes-support/opencv/opencv/0003-To-fix-errors-as-following.patch

@@ -0,0 +1,69 @@
+From ace48a628dca34d742615598afeef42ed323a029 Mon Sep 17 00:00:00 2001
+From: Huang Qiyu <[email protected]>
+Date: Fri, 19 May 2017 04:27:50 +0900
+Subject: [PATCH 3/3] To fix errors as following:
+
+"test_main.cpp:45: undefined reference to `parseCustomOptions(int, char**)'"
+"perf_abs.cpp:13: undefined reference to `cvtest::param_seed'"
+"test_superres.cpp:270: undefined reference to `checkIppStatus()'"
+
+Signed-off-by: Huang Qiyu <[email protected]>
+
+Also add the visibility changes for certain OpenCL-related functions in
+ts module.
+
+Signed-off-by: Ismo Puustinen <[email protected]>
+---
+ modules/ts/include/opencv2/ts.hpp          | 6 +++---
+ modules/ts/include/opencv2/ts/ocl_test.hpp | 2 +-
+ modules/ts/include/opencv2/ts/ts_ext.hpp   | 2 +-
+ 3 files changed, 5 insertions(+), 5 deletions(-)
+
+Index: git/modules/ts/include/opencv2/ts.hpp
+===================================================================
+--- git.orig/modules/ts/include/opencv2/ts.hpp
++++ git/modules/ts/include/opencv2/ts.hpp
+@@ -608,7 +608,7 @@ protected:
+     }
+ };
+
+-extern uint64 param_seed;
++CV_EXPORTS extern uint64 param_seed;
+
+ struct DefaultRngAuto
+ {
+@@ -671,7 +671,7 @@ private:
+ #endif
+ #endif
+
+-void parseCustomOptions(int argc, char **argv);
++CV_EXPORTS void parseCustomOptions(int argc, char **argv);
+
+ #define CV_TEST_INIT0_NOOP (void)0
+
+Index: git/modules/ts/include/opencv2/ts/ocl_test.hpp
+===================================================================
+--- git.orig/modules/ts/include/opencv2/ts/ocl_test.hpp
++++ git/modules/ts/include/opencv2/ts/ocl_test.hpp
+@@ -82,7 +82,7 @@ inline UMat ToUMat(InputArray src)
+     return dst;
+ }
+
+-extern int test_loop_times;
++CV_EXPORTS extern int test_loop_times;
+
+ #define MAX_VALUE 357
+
+Index: git/modules/ts/include/opencv2/ts/ts_ext.hpp
+===================================================================
+--- git.orig/modules/ts/include/opencv2/ts/ts_ext.hpp
++++ git/modules/ts/include/opencv2/ts/ts_ext.hpp
+@@ -9,7 +9,7 @@
+ #define OPENCV_TS_EXT_HPP
+
+ namespace cvtest {
+-void checkIppStatus();
++CV_EXPORTS void checkIppStatus();
+ extern bool skipUnstableTests;
+ extern bool runBigDataTests;
+ extern int testThreads;

meta-ros1-melodic/recipes-support/opencv/opencv/fixpkgconfig.patch

@@ -0,0 +1,30 @@
+Index: git/cmake/OpenCVGenPkgconfig.cmake
+===================================================================
+--- git.orig/cmake/OpenCVGenPkgconfig.cmake
++++ git/cmake/OpenCVGenPkgconfig.cmake
+@@ -31,7 +31,7 @@ macro(fix_prefix lst isown)
+       get_filename_component(libdir "${item}" PATH)
+       get_filename_component(_libname "${item}" NAME)
+       ocv_get_libname(libname "${_libname}")
+-      list(APPEND _lst "-L${libdir}" "-l${libname}")
++      list(APPEND _lst "-l${libname}")
+     else()
+       list(APPEND _lst "-l${item}")
+     endif()
+@@ -124,11 +124,14 @@ ocv_list_unique(_extra)
+ ocv_list_unique(_3rdparty)
+
+ set(OPENCV_PC_LIBS
+-  "-L\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}"
++  "-L\${exec_prefix}/${OPENCV_3P_LIB_INSTALL_PATH}"
+   "${_modules}"
+ )
+ if(BUILD_SHARED_LIBS)
+-  set(OPENCV_PC_LIBS_PRIVATE "${_extra}")
++  set(OPENCV_PC_LIBS_PRIVATE
++    "-L\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}"
++    "${_extra}"
++  )
+ else()
+   set(OPENCV_PC_LIBS_PRIVATE
+     "-L\${exec_prefix}/${OPENCV_3P_LIB_INSTALL_PATH}"

meta-ros1-melodic/recipes-support/opencv/opencv/uselocalxfeatures.patch

@@ -0,0 +1,20 @@
+diff --git a/modules/xfeatures2d/CMakeLists.txt b/modules/xfeatures2d/CMakeLists.txt
+index e1755595..c7009c47 100644
+--- a/modules/xfeatures2d/CMakeLists.txt
++++ b/modules/xfeatures2d/CMakeLists.txt
+@@ -5,10 +5,10 @@ ocv_define_module(xfeatures2d opencv_core opencv_imgproc opencv_features2d openc
+ include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/download_vgg.cmake)
+ include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/download_boostdesc.cmake)
+ set(DOWNLOAD_DIR "${OpenCV_BINARY_DIR}/downloads/xfeatures2d")
+-download_boost_descriptors("${DOWNLOAD_DIR}" boost_status)
+-download_vgg_descriptors("${DOWNLOAD_DIR}" vgg_status)
+-if(NOT boost_status OR NOT vgg_status)
+-  ocv_module_disable(xfeatures2d)
+-endif()
++#download_boost_descriptors("${DOWNLOAD_DIR}" boost_status)
++#download_vgg_descriptors("${DOWNLOAD_DIR}" vgg_status)
++#if(NOT boost_status OR NOT vgg_status)
++#  ocv_module_disable(xfeatures2d)
++#endif()
+
+ ocv_module_include_directories("${DOWNLOAD_DIR}")

meta-ros1-melodic/recipes-support/opencv/opencv_3.%.bbappend

@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+# Fix up PACKAGECONFIG if Python 2 is being used.
+PACKAGECONFIG_prepend = "${@'python2 ' if d.getVar('ROS_PYTHON_VERSION', True) == '2' else ''}"
+# _remove happens after _prepend.
+PACKAGECONFIG_remove = "${@'python3' if d.getVar('ROS_PYTHON_VERSION', True) == '2' else ''}"
+
+# Python variables are set to their values for Python 3 even though
+# python2" appears in PACKAGECONFIG because distutils3-base has been
+# already inherited by the main recipe before the PACKAGECONFIG is
+# adjusted. This causes the "python-opencv" package to be empty because
+# /usr/lib/python2.7/site-packages/cv2.so isn't built. Fix by inherit-ing
+# distutils-base again if "python2" appears in PACKAGECONFIG. Luckily
+# inheriting distutils-base after distutils3-base works OK, because it
+# overwrites all variables opencv needs to configure python2 support
+# correctly.
+inherit ${@bb.utils.contains('PACKAGECONFIG', 'python2', 'distutils-base', '', d)}