--- /dev/null
+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;
++}
projects / gentoo.git / commitdiff