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gentoo-overlay/dev-ros/cv_bridge/files/ocv4.patch

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From b0281a5c844ea0b0d9e0104674474adf50810f49 Mon Sep 17 00:00:00 2001
From: BrutusTT <brutusthetschiepel@gmail.com>
Date: Wed, 4 Sep 2019 11:39:30 +0100
Subject: [PATCH 1/2] add OpenCV4 support addresses
ros-perception/vision_opencv#272
---
cv_bridge/CMakeLists.txt | 2 +-
cv_bridge/src/CMakeLists.txt | 8 +++++---
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
index 997bef3e..c203aad1 100644
--- a/cv_bridge/CMakeLists.txt
+++ b/cv_bridge/CMakeLists.txt
@@ -13,7 +13,7 @@ if(NOT ANDROID)
else()
find_package(Boost REQUIRED)
endif()
-find_package(OpenCV 3 REQUIRED
+find_package(OpenCV REQUIRED
COMPONENTS
opencv_core
opencv_imgproc
diff --git a/cv_bridge/src/CMakeLists.txt b/cv_bridge/src/CMakeLists.txt
index 37ba30ee..6d91003b 100644
--- a/cv_bridge/src/CMakeLists.txt
+++ b/cv_bridge/src/CMakeLists.txt
@@ -32,10 +32,12 @@ if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
add_definitions(-DPYTHON3)
endif()
-if (OpenCV_VERSION_MAJOR VERSION_EQUAL 3)
-add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
+if (OpenCV_VERSION_MAJOR VERSION_EQUAL 4)
+ add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp)
+elseif(OpenCV_VERSION_MAJOR VERSION_EQUAL 3)
+ add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
else()
-add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
+ add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
endif()
target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
${catkin_LIBRARIES}
From 8e01b44c5c1c0003dc91273076f8ca7feb9a8025 Mon Sep 17 00:00:00 2001
From: BrutusTT <brutusthetschiepel@gmail.com>
Date: Thu, 17 Oct 2019 14:37:40 +0100
Subject: [PATCH 2/2] added missig file
---
cv_bridge/src/module_opencv4.cpp | 371 +++++++++++++++++++++++++++++++
1 file changed, 371 insertions(+)
create mode 100644 cv_bridge/src/module_opencv4.cpp
diff --git a/cv_bridge/src/module_opencv4.cpp b/cv_bridge/src/module_opencv4.cpp
new file mode 100644
index 00000000..60a9d05d
--- /dev/null
+++ b/cv_bridge/src/module_opencv4.cpp
@@ -0,0 +1,371 @@
+// Taken from opencv/modules/python/src2/cv2.cpp
+
+#include "module.hpp"
+
+#include "opencv2/core/types_c.h"
+
+#include "opencv2/opencv_modules.hpp"
+
+#include "pycompat.hpp"
+
+static PyObject* opencv_error = 0;
+
+static int failmsg(const char *fmt, ...)
+{
+ char str[1000];
+
+ va_list ap;
+ va_start(ap, fmt);
+ vsnprintf(str, sizeof(str), fmt, ap);
+ va_end(ap);
+
+ PyErr_SetString(PyExc_TypeError, str);
+ return 0;
+}
+
+struct ArgInfo
+{
+ const char * name;
+ bool outputarg;
+ // more fields may be added if necessary
+
+ ArgInfo(const char * name_, bool outputarg_)
+ : name(name_)
+ , outputarg(outputarg_) {}
+
+ // to match with older pyopencv_to function signature
+ operator const char *() const { return name; }
+};
+
+class PyAllowThreads
+{
+public:
+ PyAllowThreads() : _state(PyEval_SaveThread()) {}
+ ~PyAllowThreads()
+ {
+ PyEval_RestoreThread(_state);
+ }
+private:
+ PyThreadState* _state;
+};
+
+class PyEnsureGIL
+{
+public:
+ PyEnsureGIL() : _state(PyGILState_Ensure()) {}
+ ~PyEnsureGIL()
+ {
+ PyGILState_Release(_state);
+ }
+private:
+ PyGILState_STATE _state;
+};
+
+#define ERRWRAP2(expr) \
+try \
+{ \
+ PyAllowThreads allowThreads; \
+ expr; \
+} \
+catch (const cv::Exception &e) \
+{ \
+ PyErr_SetString(opencv_error, e.what()); \
+ return 0; \
+}
+
+using namespace cv;
+
+static PyObject* failmsgp(const char *fmt, ...)
+{
+ char str[1000];
+
+ va_list ap;
+ va_start(ap, fmt);
+ vsnprintf(str, sizeof(str), fmt, ap);
+ va_end(ap);
+
+ PyErr_SetString(PyExc_TypeError, str);
+ return 0;
+}
+
+class NumpyAllocator : public MatAllocator
+{
+public:
+ NumpyAllocator() { stdAllocator = Mat::getStdAllocator(); }
+ ~NumpyAllocator() {}
+
+ UMatData* allocate(PyObject* o, int dims, const int* sizes, int type, size_t* step) const
+ {
+ UMatData* u = new UMatData(this);
+ u->data = u->origdata = (uchar*)PyArray_DATA((PyArrayObject*) o);
+ npy_intp* _strides = PyArray_STRIDES((PyArrayObject*) o);
+ for( int i = 0; i < dims - 1; i++ )
+ step[i] = (size_t)_strides[i];
+ step[dims-1] = CV_ELEM_SIZE(type);
+ u->size = sizes[0]*step[0];
+ u->userdata = o;
+ return u;
+ }
+
+ UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, AccessFlag flags, UMatUsageFlags usageFlags) const
+ {
+ if( data != 0 )
+ {
+ CV_Error(Error::StsAssert, "The data should normally be NULL!");
+ // probably this is safe to do in such extreme case
+ return stdAllocator->allocate(dims0, sizes, type, data, step, flags, usageFlags);
+ }
+ PyEnsureGIL gil;
+
+ int depth = CV_MAT_DEPTH(type);
+ int cn = CV_MAT_CN(type);
+ const int f = (int)(sizeof(size_t)/8);
+ int typenum = depth == CV_8U ? NPY_UBYTE : depth == CV_8S ? NPY_BYTE :
+ depth == CV_16U ? NPY_USHORT : depth == CV_16S ? NPY_SHORT :
+ depth == CV_32S ? NPY_INT : depth == CV_32F ? NPY_FLOAT :
+ depth == CV_64F ? NPY_DOUBLE : f*NPY_ULONGLONG + (f^1)*NPY_UINT;
+ int i, dims = dims0;
+ cv::AutoBuffer<npy_intp> _sizes(dims + 1);
+ for( i = 0; i < dims; i++ )
+ _sizes[i] = sizes[i];
+ if( cn > 1 )
+ _sizes[dims++] = cn;
+ PyObject* o = PyArray_SimpleNew(dims, _sizes.data(), typenum);
+ if(!o)
+ CV_Error_(Error::StsError, ("The numpy array of typenum=%d, ndims=%d can not be created", typenum, dims));
+ return allocate(o, dims0, sizes, type, step);
+ }
+
+ bool allocate(UMatData* u, AccessFlag accessFlags, UMatUsageFlags usageFlags) const CV_OVERRIDE
+ {
+ return stdAllocator->allocate(u, accessFlags, usageFlags);
+ }
+
+ void deallocate(UMatData* u) const CV_OVERRIDE
+ {
+ if(!u)
+ return;
+ PyEnsureGIL gil;
+ CV_Assert(u->urefcount >= 0);
+ CV_Assert(u->refcount >= 0);
+ if(u->refcount == 0)
+ {
+ PyObject* o = (PyObject*)u->userdata;
+ Py_XDECREF(o);
+ delete u;
+ }
+ }
+
+ const MatAllocator* stdAllocator;
+};
+
+NumpyAllocator g_numpyAllocator;
+
+
+template<typename T> static
+bool pyopencv_to(PyObject* obj, T& p, const char* name = "<unknown>");
+
+template<typename T> static
+PyObject* pyopencv_from(const T& src);
+
+enum { ARG_NONE = 0, ARG_MAT = 1, ARG_SCALAR = 2 };
+
+// special case, when the convertor needs full ArgInfo structure
+static bool pyopencv_to(PyObject* o, Mat& m, const ArgInfo info)
+{
+ // to avoid PyArray_Check() to crash even with valid array
+ do_numpy_import( );
+
+
+ bool allowND = true;
+ if(!o || o == Py_None)
+ {
+ if( !m.data )
+ m.allocator = &g_numpyAllocator;
+ return true;
+ }
+
+ if( PyInt_Check(o) )
+ {
+ double v[] = {(double)PyInt_AsLong((PyObject*)o), 0., 0., 0.};
+ m = Mat(4, 1, CV_64F, v).clone();
+ return true;
+ }
+ if( PyFloat_Check(o) )
+ {
+ double v[] = {PyFloat_AsDouble((PyObject*)o), 0., 0., 0.};
+ m = Mat(4, 1, CV_64F, v).clone();
+ return true;
+ }
+ if( PyTuple_Check(o) )
+ {
+ int i, sz = (int)PyTuple_Size((PyObject*)o);
+ m = Mat(sz, 1, CV_64F);
+ for( i = 0; i < sz; i++ )
+ {
+ PyObject* oi = PyTuple_GET_ITEM(o, i);
+ if( PyInt_Check(oi) )
+ m.at<double>(i) = (double)PyInt_AsLong(oi);
+ else if( PyFloat_Check(oi) )
+ m.at<double>(i) = (double)PyFloat_AsDouble(oi);
+ else
+ {
+ failmsg("%s is not a numerical tuple", info.name);
+ m.release();
+ return false;
+ }
+ }
+ return true;
+ }
+
+ if( !PyArray_Check(o) )
+ {
+ failmsg("%s is not a numpy array, neither a scalar", info.name);
+ return false;
+ }
+
+ PyArrayObject* oarr = (PyArrayObject*) o;
+
+ bool needcopy = false, needcast = false;
+ int typenum = PyArray_TYPE(oarr), new_typenum = typenum;
+ int type = typenum == NPY_UBYTE ? CV_8U :
+ typenum == NPY_BYTE ? CV_8S :
+ typenum == NPY_USHORT ? CV_16U :
+ typenum == NPY_SHORT ? CV_16S :
+ typenum == NPY_INT ? CV_32S :
+ typenum == NPY_INT32 ? CV_32S :
+ typenum == NPY_FLOAT ? CV_32F :
+ typenum == NPY_DOUBLE ? CV_64F : -1;
+
+ if( type < 0 )
+ {
+ if( typenum == NPY_INT64 || typenum == NPY_UINT64 || type == NPY_LONG )
+ {
+ needcopy = needcast = true;
+ new_typenum = NPY_INT;
+ type = CV_32S;
+ }
+ else
+ {
+ failmsg("%s data type = %d is not supported", info.name, typenum);
+ return false;
+ }
+ }
+
+#ifndef CV_MAX_DIM
+ const int CV_MAX_DIM = 32;
+#endif
+
+ int ndims = PyArray_NDIM(oarr);
+ if(ndims >= CV_MAX_DIM)
+ {
+ failmsg("%s dimensionality (=%d) is too high", info.name, ndims);
+ return false;
+ }
+
+ int size[CV_MAX_DIM+1];
+ size_t step[CV_MAX_DIM+1];
+ size_t elemsize = CV_ELEM_SIZE1(type);
+ const npy_intp* _sizes = PyArray_DIMS(oarr);
+ const npy_intp* _strides = PyArray_STRIDES(oarr);
+ bool ismultichannel = ndims == 3 && _sizes[2] <= CV_CN_MAX;
+
+ for( int i = ndims-1; i >= 0 && !needcopy; i-- )
+ {
+ // these checks handle cases of
+ // a) multi-dimensional (ndims > 2) arrays, as well as simpler 1- and 2-dimensional cases
+ // b) transposed arrays, where _strides[] elements go in non-descending order
+ // c) flipped arrays, where some of _strides[] elements are negative
+ if( (i == ndims-1 && (size_t)_strides[i] != elemsize) ||
+ (i < ndims-1 && _strides[i] < _strides[i+1]) )
+ needcopy = true;
+ }
+
+ if( ismultichannel && _strides[1] != (npy_intp)elemsize*_sizes[2] )
+ needcopy = true;
+
+ if (needcopy)
+ {
+ if (info.outputarg)
+ {
+ failmsg("Layout of the output array %s is incompatible with cv::Mat (step[ndims-1] != elemsize or step[1] != elemsize*nchannels)", info.name);
+ return false;
+ }
+
+ if( needcast ) {
+ o = PyArray_Cast(oarr, new_typenum);
+ oarr = (PyArrayObject*) o;
+ }
+ else {
+ oarr = PyArray_GETCONTIGUOUS(oarr);
+ o = (PyObject*) oarr;
+ }
+
+ _strides = PyArray_STRIDES(oarr);
+ }
+
+ for(int i = 0; i < ndims; i++)
+ {
+ size[i] = (int)_sizes[i];
+ step[i] = (size_t)_strides[i];
+ }
+
+ // handle degenerate case
+ if( ndims == 0) {
+ size[ndims] = 1;
+ step[ndims] = elemsize;
+ ndims++;
+ }
+
+ if( ismultichannel )
+ {
+ ndims--;
+ type |= CV_MAKETYPE(0, size[2]);
+ }
+
+ if( ndims > 2 && !allowND )
+ {
+ failmsg("%s has more than 2 dimensions", info.name);
+ return false;
+ }
+
+ m = Mat(ndims, size, type, PyArray_DATA(oarr), step);
+ m.u = g_numpyAllocator.allocate(o, ndims, size, type, step);
+ m.addref();
+
+ if( !needcopy )
+ {
+ Py_INCREF(o);
+ }
+ m.allocator = &g_numpyAllocator;
+
+ return true;
+}
+
+template<>
+bool pyopencv_to(PyObject* o, Mat& m, const char* name)
+{
+ return pyopencv_to(o, m, ArgInfo(name, 0));
+}
+
+PyObject* pyopencv_from(const Mat& m)
+{
+ if( !m.data )
+ Py_RETURN_NONE;
+ Mat temp, *p = (Mat*)&m;
+ if(!p->u || p->allocator != &g_numpyAllocator)
+ {
+ temp.allocator = &g_numpyAllocator;
+ ERRWRAP2(m.copyTo(temp));
+ p = &temp;
+ }
+ PyObject* o = (PyObject*)p->u->userdata;
+ Py_INCREF(o);
+ return o;
+}
+
+int convert_to_CvMat2(const PyObject* o, cv::Mat& m)
+{
+ pyopencv_to(const_cast<PyObject*>(o), m, "unknown");
+ return 0;
+}
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