Opencv4 upgrade (#781)

!!!!!!!!!!!!!!!!!!!!!!!!!!!Users need to remove:
    dpkg -r astrobee0 &&
    dpkg -r libalvar2 &&
    dpkg -r libopenmvg1 &&
    dpkg -r libdbow21 &&
    dpkg -r libdbowdlib1 &&
    dpkg -r libopencv3.3.1
and re-do the install setup!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

* Starting to update the marker tracking

* Compiles with OpenCV4

* Now Astrobee works

* Clean up references to old OpenCV find cmake path

* Cleaned up

* Set 4.2.0 version

* Set opencv back on list of thirdparty, now installed in /usr

* Fixed gazebo parameter passing bug in xacro and allowed using ns bsharp by deleting hard-coded assumption of bsharp in astrobee_gazebo

* install newer ar_track_alvar instead of alvar

* compiling in ubuntu 20.04 with full opencv

* reverting sim changes

* fixing ar-track-alvar install

* add new alvar libs to gitignore

* patch fixes cmake error

* reverting sim changes not related to this PR

* minimal opencv install of only xfeatures2d

* fixing astrobee dependencies

* Add debian build configuration for ar-track-alvar-msgs

* Remove postinst and postrm files from alvar-msgs

These files won't work when installing on the robots

* Add debian build configuration files for ar-track-alvar

* Remove postinst and postrm from alvar

These files won't work on the robots

* Remove use of bloom-generate

Pretty cool tool but not the best option in the context of the
robots and compilation for armhf

* Remove .dirs files since dh_install is enough

* Update opencv install files

Using arch-specific files since there is no expansion support
in compat 9. Also I don't want to make the install file an
executable.

* Remove old alvar script

* Update opencv not-installed to include files from any architecture

* Update openmvg debian control files

* Changelog now reflects new patch
* Removing unnecessary dependency to save space on the robots

* Upgrade dbow2 to OpenCV 4

* Increase version to reflect opencv4 upgrade

* Add our custom CMake modules

This may be a temporal thing if we decide to put back this change
into the nodes that require it

* fix gen hugin script for ubuntu 20

* remove ros-pcl dependency

* Update remove_pcl patch

* fix hugin api read pto

* fixes from review

* adding packages to install list

* change install script to be clear we're not installing the entire opencv

* reducing the not-install list

* changing cmake name to make it clearer; didn't want to add an extra line to the cmake on all the opencv4 dependencies

* fixes from running docker

---------

Co-authored-by: Ana C. Huaman Quispe <[email protected]>
Co-authored-by: Ruben Garcia <[email protected]>

cmake/FindOpenCV4WithXFeatures.cmake

@@ -0,0 +1,108 @@
+
+# Find OpenCV installation
+find_package(OpenCV 4.0 REQUIRED)
+
+
+list(APPEND OpenCV_LIB_COMPONENTS "opencv_xfeatures2d")
+
+if(NOT CMAKE_VERSION VERSION_LESS "2.8.11")
+  # Target property INTERFACE_INCLUDE_DIRECTORIES available since 2.8.11:
+  # * http://www.cmake.org/cmake/help/v2.8.11/cmake.html#prop_tgt:INTERFACE_INCLUDE_DIRECTORIES
+  foreach(__component ${OpenCV_LIB_COMPONENTS})
+    if(TARGET ${__component})
+      set_target_properties(
+          ${__component}
+          PROPERTIES
+          INTERFACE_INCLUDE_DIRECTORIES "${OpenCV_INCLUDE_DIRS}"
+      )
+    endif()
+  endforeach()
+endif()
+
+# ==============================================================
+#  Form list of modules (components) to find
+# ==============================================================
+if(NOT OpenCV_FIND_COMPONENTS)
+  set(OpenCV_FIND_COMPONENTS ${OpenCV_LIB_COMPONENTS})
+  list(REMOVE_ITEM OpenCV_FIND_COMPONENTS opencv_java)
+  if(GTest_FOUND OR GTEST_FOUND)
+    list(REMOVE_ITEM OpenCV_FIND_COMPONENTS opencv_ts)
+  endif()
+endif()
+
+set(OpenCV_WORLD_COMPONENTS )
+
+# expand short module names and see if requested components exist
+foreach(__cvcomponent ${OpenCV_FIND_COMPONENTS})
+  # Store the name of the original component so we can set the
+  # OpenCV_<component>_FOUND variable which can be checked by the user.
+  set (__original_cvcomponent ${__cvcomponent})
+  if(NOT __cvcomponent MATCHES "^opencv_")
+    set(__cvcomponent opencv_${__cvcomponent})
+  endif()
+  list(FIND OpenCV_LIB_COMPONENTS ${__cvcomponent} __cvcomponentIdx)
+  if(__cvcomponentIdx LESS 0)
+    if(_OpenCV_HANDLE_COMPONENTS_MANUALLY)
+      # Either the component is required or the user did not set any components at
+      # all. In the latter case, the OpenCV_FIND_REQUIRED_<component> variable
+      # will not be defined since it is not set by this config. So let's assume
+      # the implicitly set components are always required.
+      if(NOT DEFINED OpenCV_FIND_REQUIRED_${__original_cvcomponent} OR
+          OpenCV_FIND_REQUIRED_${__original_cvcomponent})
+        message(FATAL_ERROR "${__cvcomponent} is required but was not found")
+      elseif(NOT OpenCV_FIND_QUIETLY)
+        # The component was marked as optional using OPTIONAL_COMPONENTS
+        message(WARNING "Optional component ${__cvcomponent} was not found")
+      endif()
+    endif(_OpenCV_HANDLE_COMPONENTS_MANUALLY)
+    #indicate that module is NOT found
+    string(TOUPPER "${__cvcomponent}" __cvcomponentUP)
+    set(${__cvcomponentUP}_FOUND "${__cvcomponentUP}_FOUND-NOTFOUND")
+    set(OpenCV_${__original_cvcomponent}_FOUND FALSE)
+  else()
+    # Not using list(APPEND) here, because OpenCV_LIBS may not exist yet.
+    # Also not clearing OpenCV_LIBS anywhere, so that multiple calls
+    # to find_package(OpenCV) with different component lists add up.
+    set(OpenCV_LIBS ${OpenCV_LIBS} "${__cvcomponent}")
+    #indicate that module is found
+    string(TOUPPER "${__cvcomponent}" __cvcomponentUP)
+    set(${__cvcomponentUP}_FOUND 1)
+    set(OpenCV_${__original_cvcomponent}_FOUND TRUE)
+  endif()
+  if(OpenCV_SHARED AND ";${OpenCV_WORLD_COMPONENTS};" MATCHES ";${__cvcomponent};" AND NOT TARGET ${__cvcomponent})
+    get_target_property(__implib_dbg opencv_world IMPORTED_IMPLIB_DEBUG)
+    get_target_property(__implib_release opencv_world  IMPORTED_IMPLIB_RELEASE)
+    get_target_property(__location_dbg opencv_world IMPORTED_LOCATION_DEBUG)
+    get_target_property(__location_release opencv_world  IMPORTED_LOCATION_RELEASE)
+    get_target_property(__include_dir opencv_world INTERFACE_INCLUDE_DIRECTORIES)
+    add_library(${__cvcomponent} SHARED IMPORTED)
+    set_target_properties(${__cvcomponent} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${__include_dir}")
+    if(__location_dbg)
+      set_property(TARGET ${__cvcomponent} APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG)
+      set_target_properties(${__cvcomponent} PROPERTIES
+        IMPORTED_IMPLIB_DEBUG "${__implib_dbg}"
+        IMPORTED_LINK_INTERFACE_LIBRARIES_DEBUG ""
+        IMPORTED_LOCATION_DEBUG "${__location_dbg}"
+      )
+    endif()
+    if(__location_release)
+      set_property(TARGET ${__cvcomponent} APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+      set_target_properties(${__cvcomponent} PROPERTIES
+        IMPORTED_IMPLIB_RELEASE "${__implib_release}"
+        IMPORTED_LINK_INTERFACE_LIBRARIES_RELEASE ""
+        IMPORTED_LOCATION_RELEASE "${__location_release}"
+      )
+    endif()
+  endif()
+  if(TARGET ${__cvcomponent})
+    ocv_map_imported_config(${__cvcomponent})
+  endif()
+endforeach()
+
+if(__remap_warnings AND NOT OpenCV_FIND_QUIETLY)
+  message("OpenCV: configurations remap warnings:\n${__remap_warnings}OpenCV: Check variable OPENCV_MAP_IMPORTED_CONFIG=${OPENCV_MAP_IMPORTED_CONFIG}")
+endif()
+
+# find_package(OpenCV 4 REQUIRED PATHS ${OpenCV_DIR_LOCAL})
+set(OpenCV_LIBRARIES ${OpenCV_LIBS})
+

debian/control

@@ -66,7 +66,7 @@ Depends: ${misc:Depends}
   ros-${ros-distro}-rosnode, ros-${ros-distro}-rosout, ros-${ros-distro}-rosparam,
   ros-${ros-distro}-rosservice, ros-${ros-distro}-rostopic, ros-${ros-distro}-roswtf,
   ros-${ros-distro}-std-srvs, ros-${ros-distro}-topic-tools, ros-${ros-distro}-xmlrpcpp,
-  ros-kinetic-opencv3 | libopencv3.3.1,
+  libopencv-core, libopencv-calib3d, libopencv-highgui, libopencv-imgcodecs, libopencv-imgproc, libopencv-features2d, libopencv-xfeatures2d,
   libjsoncpp1, libprotoc9v5 | libprotoc17, libgoogle-glog0v5,
   libtinyxml2.6.2v5, libyaml-cpp0.5v5 | libyaml-cpp0.6
 Description: Astrobee flight software.

hardware/is_camera/CMakeLists.txt

@@ -41,8 +41,7 @@ find_package_handle_standard_args(V4L2 DEFAULT_MSG
 
 
 # Find OpenCV
-LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
-find_package(OpenCV331 REQUIRED)
+find_package(OpenCV 4.0 REQUIRED)
 
 catkin_package(
   LIBRARIES is_camera

localization/camera/CMakeLists.txt

@@ -33,8 +33,7 @@ find_package(Boost REQUIRED COMPONENTS system)
 find_package(Eigen3 REQUIRED)
 
 # Find OpenCV
-LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
-find_package(OpenCV331 REQUIRED)
+find_package(OpenCV 4.0 REQUIRED)
 
 
 

localization/depth_odometry/CMakeLists.txt

@@ -35,9 +35,8 @@ find_package(catkin2 REQUIRED COMPONENTS
   vision_common
 )
 
-# Find OpenCV3
-LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
-find_package(OpenCV331 REQUIRED)
+# Find OpenCV
+find_package(OpenCV 4.0 REQUIRED)
 
 find_package(Eigen3 REQUIRED)
 

localization/graph_localizer/CMakeLists.txt

@@ -43,8 +43,7 @@ find_package(catkin2 REQUIRED COMPONENTS
 )
 
 # Find OpenCV
-LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
-find_package(OpenCV331 REQUIRED)
+find_package(OpenCV 4.0 REQUIRED)
 
 catkin_package(
   LIBRARIES ${PROJECT_NAME} ${GLOG_LIBRARIES} ${GTSAM_LIBRARIES} 

localization/handrail_detect/CMakeLists.txt

@@ -31,8 +31,8 @@ find_package(catkin2 REQUIRED COMPONENTS
   ff_util
 )
 
-# Find OpenCV3
-find_package(OpenCV 3.3.1 REQUIRED)
+# Find OpenCV
+find_package(OpenCV 4.0 REQUIRED)
 
 catkin_package(
   LIBRARIES ${PROJECT_NAME}

localization/interest_point/CMakeLists.txt

@@ -33,7 +33,7 @@ find_package(OpenMVG QUIET REQUIRED)
 
 # Find OpenCV
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
-find_package(OpenCV331 REQUIRED)
+find_package(OpenCV4WithXFeatures REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
@@ -94,4 +94,4 @@ install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
-)
+)

localization/interest_point/test/test_matching.cc

@@ -34,9 +34,9 @@ class MatchingTest : public ::testing::Test {
     // that is not where the test imagery is located.
     std::string data_dir = std::string(std::getenv("DATA_DIR"));
     image1 = cv::imread(data_dir + "/m0004000.jpg",
-                        CV_LOAD_IMAGE_GRAYSCALE);
+                        cv::IMREAD_GRAYSCALE);
     image2 = cv::imread(data_dir + "/m0004025.jpg",
-                        CV_LOAD_IMAGE_GRAYSCALE);
+                        cv::IMREAD_GRAYSCALE);
 
     // Decimate the image to speed things up for our unit tests
     cv::resize(image1, image1, cv::Size(), 0.7, 0.7, cv::INTER_AREA);
@@ -62,7 +62,7 @@ TEST_F(MatchingTest, SURF) {
   EXPECT_NEAR(keypoints2.size(), 2047u, 10);
   EXPECT_EQ(descriptor1.cols, 64);
   // KNN matching seems to be variable
-  EXPECT_NEAR(matches.size(), 798u, 10);
+  EXPECT_NEAR(matches.size(), 800u, 10);
 }
 
 TEST_F(MatchingTest, ORGBRISK) {

localization/localization_measurements/CMakeLists.txt

@@ -36,8 +36,7 @@ find_package(PCL REQUIRED COMPONENTS common features filters octree search)
 find_package(pcl_conversions REQUIRED)
 
 # Find OpenCV
-LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
-find_package(OpenCV331 REQUIRED)
+find_package(OpenCV 4.0 REQUIRED)
 
 # System dependencies are found with CMake's conventions
 find_package(Eigen3 REQUIRED)

localization/localization_node/CMakeLists.txt

@@ -39,8 +39,7 @@ find_package(OpenMVG QUIET REQUIRED)
 find_package(Eigen3 REQUIRED)
 
 # Find OpenCV
-LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
-find_package(OpenCV331 REQUIRED)
+find_package(OpenCV 4.0 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include

localization/marker_tracking/CMakeLists.txt

@@ -33,22 +33,20 @@ find_package(catkin2 REQUIRED COMPONENTS
   camera 
   nodelet
   msg_conversions
+  ar_track_alvar
 )
 
 # System dependencies are found with CMake's conventions
 find_package(cmake_modules REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(Alvar REQUIRED)
-find_package(Alvar REQUIRED)
-
+find_package(PCL REQUIRED COMPONENTS common)
 
 # Find OpenCV
-LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
-find_package(OpenCV331 REQUIRED)
+find_package(OpenCV 4.0 REQUIRED)
 
 catkin_package(
   LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS roscpp ff_util message_runtime std_msgs geometry_msgs cv_bridge image_transport camera msg_conversions nodelet
+  CATKIN_DEPENDS roscpp ff_util message_runtime std_msgs geometry_msgs cv_bridge image_transport camera msg_conversions nodelet ar_track_alvar
 )
 
 ###########
@@ -59,9 +57,9 @@ catkin_package(
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
-  ${ALVAR_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
 )
 
 # Declare C++ libraries
@@ -72,7 +70,7 @@ add_library(marker_tracking
   src/marker_tracking/marker_detector.cc
 )
 add_dependencies(marker_tracking ${catkin_EXPORTED_TARGETS})
-target_link_libraries(marker_tracking ${catkin_LIBRARIES} ${ALVAR_LIBRARIES})
+target_link_libraries(marker_tracking ${catkin_LIBRARIES})
 
 ## Declare a C++ executable: generate_ar_target
 add_executable(generate_ar_target tools/marker_tracking/generate_ar_target.cc)

localization/marker_tracking/include/marker_tracking/labelling_method.h

@@ -32,8 +32,8 @@
 #include <camera/camera_params.h>
 
 #include <opencv2/core/core_c.h>
-#include <alvar/Alvar.h>
-#include <alvar/Util.h>
+#include <ar_track_alvar/Alvar.h>
+#include <ar_track_alvar/Util.h>
 
 #include <vector>
 
@@ -47,7 +47,7 @@ class ALVAR_EXPORT Labeling {
   /**
    * \brief Pointer to binary image that is then labeled.
    */
-  IplImage *bw_;
+  std::shared_ptr<cv::Mat> bw_;
 
   camera::CameraParameters cam_;
   int thresh_param1_, thresh_param2_;
@@ -69,9 +69,9 @@ class ALVAR_EXPORT Labeling {
   /**
    * \brief Labels image and filters blobs to obtain square-shaped objects from the scene.
    */
-  virtual void LabelSquares(IplImage* image) = 0;
+  virtual void LabelSquares(std::shared_ptr<cv::Mat> image) = 0;
 
-  bool CheckBorder(CvSeq* contour, int width, int height);
+  bool CheckBorder(std::vector<cv::Point> contour, int width, int height);
 
   void SetThreshParams(int param1, int param2);
 
@@ -87,13 +87,12 @@ class ALVAR_EXPORT LabelingCvSeq : public Labeling {
   int n_blobs_;
   int min_edge_;
   int min_area_;
-  CvMemStorage* storage_;
 
  public:
   explicit LabelingCvSeq(camera::CameraParameters const& cam);
   virtual ~LabelingCvSeq();
 
-  void LabelSquares(IplImage* image);
+  void LabelSquares(std::shared_ptr<cv::Mat> image);
 };
 
 }  // namespace marker_tracking

localization/marker_tracking/include/marker_tracking/marker_detector.h

@@ -35,7 +35,7 @@
 #include <Eigen/Core>
 
 #include <opencv2/core/core_c.h>  // I don't need all of OpenCV
-#include <alvar/Marker.h>
+#include <ar_track_alvar/Marker.h>
 
 #include <vector>
 
@@ -54,7 +54,7 @@ namespace marker_tracking {
     explicit MarkerCornerDetector(camera::CameraParameters const& camera);
     ~MarkerCornerDetector();
 
-    void Detect(IplImage *image,
+    void Detect(std::shared_ptr<cv::Mat> image,
                 float max_new_marker_error,
                 float max_track_error);
 

localization/marker_tracking/package.xml

@@ -26,6 +26,7 @@
   <build_depend>nodelet</build_depend>
   <build_depend>camera</build_depend>
   <build_depend>msg_conversions</build_depend>
+  <build_depend>ar_track_alvar</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>ff_util</run_depend>
   <run_depend>message_runtime</run_depend>
@@ -38,6 +39,7 @@
   <run_depend>nodelet</run_depend>
   <run_depend>camera</run_depend>
   <run_depend>msg_conversions</run_depend>
+  <run_depend>ar_track_alvar</run_depend>
   <export>
     <nodelet plugin="${prefix}/nodelet_plugins.xml" />
   </export>