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Merged
SteveMacenski merged 7 commits into from
May 21, 2020
Merged

build with openCV4 #534

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1fa3896
build with openCV4
May 18, 2020
8ebf93d
naive CI for foxy
May 19, 2020
c94da10
deps
May 19, 2020
5b23f5f
gtk3
May 20, 2020
44eb480
remove ibgtk2.0-dev
May 20, 2020
fa62b99
ament_uncrustify --reformat
May 20, 2020
0057b32
test only image_pipeline packages
doisyg May 21, 2020
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2 changes: 1 addition & 1 deletion image_proc/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ find_package(rcutils REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(OpenCV 3 REQUIRED)
find_package(OpenCV 4 REQUIRED)
find_package(image_geometry REQUIRED)

include_directories(
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4 changes: 0 additions & 4 deletions image_proc/src/crop_decimate.cpp
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Expand Up @@ -46,11 +46,7 @@ void debayer2x2toBGR(
int R, int G1, int G2, int B)
{
typedef cv::Vec<T, 3> DstPixel; // 8- or 16-bit BGR
#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION > 2
dst.create(src.rows / 2, src.cols / 2, cv::traits::Type<DstPixel>::value);
#else
dst.create(src.rows / 2, src.cols / 2, cv::DataType<DstPixel>::type);
#endif

int src_row_step = src.step1();
int dst_row_step = dst.step1();
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8 changes: 1 addition & 7 deletions image_publisher/CMakeLists.txt
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Expand Up @@ -29,15 +29,9 @@ set( DEPENDENCIES
cv_bridge
)

set(opencv_2_components core highgui)
set(opencv_3_components core imgcodecs videoio)
find_package(OpenCV REQUIRED COMPONENTS core)
message(STATUS "opencv version ${OpenCV_VERSION}")
if(OpenCV_VERSION VERSION_LESS "3.0.0")
find_package(OpenCV 2 REQUIRED COMPONENTS ${opencv_2_components})
else()
find_package(OpenCV 3 REQUIRED COMPONENTS ${opencv_3_components})
endif()
find_package(OpenCV 4 REQUIRED COMPONENTS ${opencv_4_components})
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@dirk-thomas dirk-thomas Jul 15, 2020

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The variable opencv_4_components doesn't seem to be set anywhere?


include_directories(include)

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6 changes: 3 additions & 3 deletions image_publisher/src/image_publisher.cpp
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Expand Up @@ -124,7 +124,7 @@ void ImagePublisher::doWork()
try {
if (cap_.isOpened()) {
if (!cap_.read(image_)) {
cap_.set(CV_CAP_PROP_POS_FRAMES, 0);
cap_.set(cv::CAP_PROP_POS_FRAMES, 0);
}
}
if (flip_image_) {
Expand All @@ -149,7 +149,7 @@ void ImagePublisher::onInit()
{
RCLCPP_INFO(this->get_logger(), "File name for publishing image is : %s", filename_.c_str());
try {
image_ = cv::imread(filename_, CV_LOAD_IMAGE_COLOR);
image_ = cv::imread(filename_, cv::IMREAD_COLOR);
if (image_.empty()) { // if filename not exist, open video device
try { // if filename is number
int num = std::stoi(filename_); // num is 1234798797
Expand All @@ -159,7 +159,7 @@ void ImagePublisher::onInit()
}
CV_Assert(cap_.isOpened());
cap_.read(image_);
cap_.set(CV_CAP_PROP_POS_FRAMES, 0);
cap_.set(cv::CAP_PROP_POS_FRAMES, 0);
}
CV_Assert(!image_.empty());
} catch (cv::Exception & e) {
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1 change: 0 additions & 1 deletion image_view/CMakeLists.txt
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Expand Up @@ -56,7 +56,6 @@ ament_target_dependencies(image_view_nodes
stereo_msgs
)
target_link_libraries(image_view_nodes
${GTK_LIBRARIES}
${GTK2_LIBRARIES}
${OpenCV_LIBRARIES}
${Boost_LIBRARIES}
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