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[Noetic] Use opencv3 on buster #330

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merged 4 commits into from
May 19, 2020
Merged

[Noetic] Use opencv3 on buster #330

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4637d14
Remove debug print
sloretz May 18, 2020
0a9568d
Find OpenCV 3 if 4 not available
sloretz May 18, 2020
edc11fb
Add typedef from OpenCV 4 if using OpenCV 3
sloretz May 18, 2020
46e3e33
Find boost python differs between buster and focal
sloretz May 18, 2020
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19 changes: 17 additions & 2 deletions cv_bridge/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,26 @@ find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)

if(NOT ANDROID)
find_package(PythonLibs)
find_package(Boost REQUIRED python)

if(PYTHONLIBS_VERSION_STRING VERSION_LESS "3.8")
# Debian Buster
find_package(Boost REQUIRED python37)
else()
# Ubuntu Focal
find_package(Boost REQUIRED python)
endif()
else()
find_package(Boost REQUIRED)
endif()
find_package(OpenCV 4 REQUIRED

set(_opencv_version 4)
find_package(OpenCV 4 QUIET)
if(NOT OpenCV_FOUND)
message(STATUS "Did not find OpenCV 4, trying OpenCV 3")
set(_opencv_version 3)
endif()

find_package(OpenCV ${_opencv_version4} REQUIRED
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I think this contains a typo and should be ${_opencv_version} not '${_opencv_version4}'

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Definitely. Linking to your PR #333

COMPONENTS
opencv_core
opencv_imgproc
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5 changes: 5 additions & 0 deletions cv_bridge/src/module_opencv4.cpp
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Expand Up @@ -90,6 +90,11 @@ static PyObject* failmsgp(const char *fmt, ...)

class NumpyAllocator : public MatAllocator
{
#if CV_MAJOR_VERSION == 3
protected:
typedef int AccessFlag;
#endif

public:
NumpyAllocator() { stdAllocator = Mat::getStdAllocator(); }
~NumpyAllocator() {}
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1 change: 0 additions & 1 deletion cv_bridge/test/conversions.py
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Expand Up @@ -63,7 +63,6 @@ def test_encode_decode_cv2_compressed(self):
original = np.uint8(np.random.randint(0, 255, size=(h, w)))
else:
original = np.uint8(np.random.randint(0, 255, size=(h, w, channels)))
print(f)
compress_rosmsg = cvb_en.cv2_to_compressed_imgmsg(original, f)
newimg = cvb_de.compressed_imgmsg_to_cv2(compress_rosmsg)
self.assert_(original.dtype == newimg.dtype)
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