Fix module_opencv for opencv4.

ros-perception · Apr 26, 2019 · 8037bbf · 8037bbf
1 parent b66ee6c
commit 8037bbf
Show file tree

Hide file tree

Showing 4 changed files with 25 additions and 275 deletions.
diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
@@ -14,14 +14,26 @@ else()
 find_package(Boost REQUIRED)
 endif()
 
-find_package(OpenCV REQUIRED
+find_package(OpenCV 3
   COMPONENTS
     opencv_core
     opencv_imgproc
     opencv_imgcodecs
   CONFIG
 )
 
+if(NOT ${OpenCV_FOUND})
+  # Require to find OpenCV4 if OpenCV3 cannot be found.
+  find_package(OpenCV 4 REQUIRED
+    COMPONENTS
+      opencv_core
+      opencv_imgproc
+      opencv_imgcodecs
+    CONFIG
+  )
+endif()
+
+
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}

diff --git a/cv_bridge/src/CMakeLists.txt b/cv_bridge/src/CMakeLists.txt
@@ -32,11 +32,7 @@ if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
   add_definitions(-DPYTHON3)
 endif()
 
-if (OpenCV_VERSION_MAJOR VERSION_EQUAL 3)
-add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
-else()
-add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
-endif()
+add_library(${PROJECT_NAME}_boost module.cpp module_opencv.cpp)
 target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
                                             ${catkin_LIBRARIES}
                                             ${PYTHON_LIBRARIES}

diff --git a/cv_bridge/src/module_opencv3.cpp → cv_bridge/src/module_opencv.cpp b/cv_bridge/src/module_opencv3.cpp → cv_bridge/src/module_opencv.cpp
@@ -107,11 +107,11 @@ class NumpyAllocator : public MatAllocator
         return u;
     }
 
-    UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, int flags, UMatUsageFlags usageFlags) const
+    UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, AccessFlag flags, UMatUsageFlags usageFlags) const CV_OVERRIDE
     {
         if( data != 0 )
         {
-            CV_Error(Error::StsAssert, "The data should normally be NULL!");
+            // issue #6969: 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);
         }
@@ -130,22 +130,26 @@ class NumpyAllocator : public MatAllocator
             _sizes[i] = sizes[i];
         if( cn > 1 )
             _sizes[dims++] = cn;
-        PyObject* o = PyArray_SimpleNew(dims, _sizes, typenum);
+        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, int accessFlags, UMatUsageFlags usageFlags) const
+    bool allocate(UMatData* u, AccessFlag accessFlags, UMatUsageFlags usageFlags) const CV_OVERRIDE
     {
         return stdAllocator->allocate(u, accessFlags, usageFlags);
     }
 
-    void deallocate(UMatData* u) const
+    void deallocate(UMatData* u) const CV_OVERRIDE
     {
-        if(u)
+        if(!u)
+            return;
+        PyEnsureGIL gil;
+        CV_Assert(u->urefcount >= 0);
+        CV_Assert(u->refcount >= 0);
+        if(u->refcount == 0)
         {
-            PyEnsureGIL gil;
             PyObject* o = (PyObject*)u->userdata;
             Py_XDECREF(o);
             delete u;

diff --git a/cv_bridge/src/module_opencv2.cpp b/cv_bridge/src/module_opencv2.cpp