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Changed to make provision for using OpenCV 4 #507

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Changed to make provision for using OpenCV 4 #507

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8ea5285
Changed to make provision for using OpenCV 4
Shobuj-Paul Feb 12, 2023
1fc419c
made changes to module_opencv2.cpp to account for changes in cv::Mat
Shobuj-Paul Feb 12, 2023
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10 changes: 9 additions & 1 deletion cv_bridge/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,15 @@ if(NOT ANDROID)
else()
find_package(Boost REQUIRED)
endif()
find_package(OpenCV 3 REQUIRED

set(_opencv_version 4)
find_package(OpenCV 4 QUIET)
if(NOT OpenCV_FOUND)
message(STATUS "Did not find OpenCV 4, trying OpenCV 3")
set(_opencv_version 3)
endif()

find_package(OpenCV ${_opencv_version} REQUIRED
COMPONENTS
opencv_core
opencv_imgproc
Expand Down
20 changes: 10 additions & 10 deletions cv_bridge/src/module_opencv2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,17 +148,17 @@ void NumpyAllocator::deallocate( int* refcount, uchar* datastart, uchar* data )
}

// Declare the object
NumpyAllocator g_numpyAllocator;
NumpyAllocator *g_numpyAllocator;

int convert_to_CvMat2(const PyObject* o, cv::Mat& m)
int convert_to_CvMat2(const PyObject* o, cv::Mat& m, int* refcount)
{
// to avoid PyArray_Check() to crash even with valid array
do_numpy_import();

if(!o || o == Py_None)
{
if( !m.data )
m.allocator = &g_numpyAllocator;
m.allocator = g_numpyAllocator;
return true;
}

Expand Down Expand Up @@ -230,33 +230,33 @@ int convert_to_CvMat2(const PyObject* o, cv::Mat& m)

if( m.data )
{
m.refcount = refcountFromPyObject(o);
refcount = refcountFromPyObject(o);
m.addref(); // protect the original numpy array from deallocation
// (since Mat destructor will decrement the reference counter)
};
m.allocator = &g_numpyAllocator;
m.allocator = g_numpyAllocator;

if( transposed )
{
cv::Mat tmp;
tmp.allocator = &g_numpyAllocator;
tmp.allocator = g_numpyAllocator;
transpose(m, tmp);
m = tmp;
}
return true;
}

PyObject* pyopencv_from(const Mat& m)
PyObject* pyopencv_from(const Mat& m, const int* refcount)
{
if( !m.data )
Py_RETURN_NONE;
Mat temp, *p = (Mat*)&m;
if(!p->refcount || p->allocator != &g_numpyAllocator)
if(!refcount || p->allocator != g_numpyAllocator)
{
temp.allocator = &g_numpyAllocator;
temp.allocator = g_numpyAllocator;
ERRWRAP2(m.copyTo(temp));
p = &temp;
}
p->addref();
return pyObjectFromRefcount(p->refcount);
return pyObjectFromRefcount(refcount);
}