Update intra_process_demo for OpenCV 4 compatibility

[jacobperron]

Follow up from #306. Forget to update the intra_proces_demo package...

[jacobperron]

Build with OpenCV4 to be sure there's nothing else missing:

[nuclearsandwich]

Xenial

Edit (jacobperron): re-trigger due to connection issue

[jacobperron]

CI up to intra_process_demo:

• Linux
• Linux-aarch64
• macOS
• Windows

[nuclearsandwich]

Xenial (which is using OpenCV from upstream 2.4.9) appears to be missing some of the newly used API.

[jacobperron]

Xenial (which is using OpenCV from upstream 2.4.9) appears to be missing some of the newly used API.

@nuclearsandwich @wjwwood Thoughts on adding pre-processor checks? Specifically needed in three different places:

image_tools/src/burger.cpp
@@ -82,7 +82,11 @@ Burger::Burger()
   std::vector<uint8_t> burger_png;
   burger_png.resize(burger_size);
   decode_base64(BURGER, burger_png);
+#if CV_MAJOR_VERSION < 3
+  burger_template = cv::imdecode(burger_png, CV_LOAD_IMAGE_COLOR);
+#else
   burger_template = cv::imdecode(burger_png, cv::ImreadModes::IMREAD_COLOR);
+#endif
   cv::floodFill(burger_template, cv::Point(1, 1), CV_RGB(1, 1, 1));
   cv::compare(burger_template, 1, burger_mask, cv::CMP_NE);
 #ifndef _WIN32

image_tools/src/cam2image.cpp
@@ -156,8 +156,13 @@ int main(int argc, char * argv[])
     cap.open(0);
 
     // Set the width and height based on command line arguments.
+#if CV_MAJOR_VERSION < 3
+    cap.set(CV_CAP_PROP_FRAME_WIDTH, static_cast<double>(width));
+    cap.set(CV_CAP_PROP_FRAME_HEIGHT, static_cast<double>(height));
+#else
     cap.set(cv::CAP_PROP_FRAME_WIDTH, static_cast<double>(width));
     cap.set(cv::CAP_PROP_FRAME_HEIGHT, static_cast<double>(height));
+#endif
     if (!cap.isOpened()) {
       RCLCPP_ERROR(node_logger, "Could not open video stream");
       return 1;

intra_process_demo/include/image_pipeline/camera_node.hpp
@@ -38,8 +38,13 @@ public:
   {
     // Initialize OpenCV
     cap_.open(device);
+#if CV_MAJOR_VERSION < 3
+    cap_.set(CV_CAP_PROP_FRAME_WIDTH, static_cast<double>(width));
+    cap_.set(CV_CAP_PROP_FRAME_HEIGHT, static_cast<double>(height));
+#else
     cap_.set(cv::CAP_PROP_FRAME_WIDTH, static_cast<double>(width));
     cap_.set(cv::CAP_PROP_FRAME_HEIGHT, static_cast<double>(height));
+#endif
     if (!cap_.isOpened()) {
       throw std::runtime_error("Could not open video stream!");
     }

[wjwwood]

That's unfortunate, but perhaps the best thing we can do for now. We can have a TODO/issue to remove that when we drop support for Xenial.

When are we doing that btw, isn't the case for Dashing?

[jacobperron]

I'm not sure what the timeline is, but if we're dropping Xenial support in Dashing then is it an option to create a crystal-devel branch that doesn't have these OpenCV updates?

[nuclearsandwich]

When are we doing that btw, isn't the case for Dashing?

I think the plan is to pitch dropping Xenial for Dashing to the technical steering committee at the next meeting. It is certainly what I advocate.

[nuclearsandwich]

if we're dropping Xenial support in Dashing then is it an option to create a crystal-devel branch that doesn't have these OpenCV updates?

I don't think that gains us much because we're trying to support Xenial with OpenCV 2 and MacOS with OpenCV4 within Crystal. so whether we add this logic to master or create a separate Crystal branch doesn't obviate the need for it, and since we haven't disabled Xenial jobs yet (and Xenial may remain supported Dashing possibly) omitting the logic on master would break the Xenial jobs while that all shakes out.

[jacobperron]

Bionic (OpenCV 3):
Xenial (OpenCV 2):

[jacobperron]

The test failures on Xenial appear irrelevant to this PR.

[nuclearsandwich]

The test failures on Xenial appear irrelevant to this PR.

The pyqt issue has been long outstanding. I haven't seen this tlsf failure before in recent builds.

[wjwwood]

The pyqt issue has been long outstanding. I haven't seen this tlsf failure before in recent builds.

Worth investigating, but I don't see how these changes could cause the issue in tlsf.

[jacobperron]

I can reproduce the tlsf failure without this change. New issue opened: ros2/realtime_support#69

[jacobperron]

macOS (OpenCV 4):