From 6d17c37ff02249a7070a62f2477df7ab956e5f33 Mon Sep 17 00:00:00 2001 From: Michael Mair-Keimberger Date: Wed, 22 Jul 2020 20:08:06 +0200 Subject: dev-ros/cv_bridge: remove unused patch Package-Manager: Portage-2.3.103, Repoman-2.3.23 Signed-off-by: Michael Mair-Keimberger Closes: https://github.com/gentoo/gentoo/pull/16782 Signed-off-by: Aaron Bauman --- dev-ros/cv_bridge/files/ocv4.patch | 432 ------------------------------------- 1 file changed, 432 deletions(-) delete mode 100644 dev-ros/cv_bridge/files/ocv4.patch (limited to 'dev-ros/cv_bridge') diff --git a/dev-ros/cv_bridge/files/ocv4.patch b/dev-ros/cv_bridge/files/ocv4.patch deleted file mode 100644 index 8a58408c9e8e..000000000000 --- a/dev-ros/cv_bridge/files/ocv4.patch +++ /dev/null @@ -1,432 +0,0 @@ -From b0281a5c844ea0b0d9e0104674474adf50810f49 Mon Sep 17 00:00:00 2001 -From: BrutusTT -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 -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 _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 static -+bool pyopencv_to(PyObject* obj, T& p, const char* name = ""); -+ -+template 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(i) = (double)PyInt_AsLong(oi); -+ else if( PyFloat_Check(oi) ) -+ m.at(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(o), m, "unknown"); -+ return 0; -+} -- cgit v1.2.3-65-gdbad