Opencv4 upgrade (#168)

* make isaac use opencv4

* panorama stitching with new opencv

* geometry mapper restore logfile writing

dense_map/geometry_mapper/CMakeLists.txt

@@ -49,26 +49,7 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_PREFIX_PATH})
 message(STATUS "CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}")
 message(STATUS "CMAKE_MODULE_PATH=${CMAKE_MODULE_PATH}")
 
-# Find OpenCV and fix a 3.3.1 bug
-find_package(OpenCV 3 REQUIRED)
-if (${OpenCV_VERSION} MATCHES "3.3.1")
-  foreach(__cvcomponent ${OpenCV_LIB_COMPONENTS})
-    set (__original_cvcomponent ${__cvcomponent})
-    if(NOT __cvcomponent MATCHES "^opencv_")
-      set(__cvcomponent opencv_${__cvcomponent})
-    endif()
-    if (TARGET ${__cvcomponent})
-      set_target_properties(${__cvcomponent} PROPERTIES
-          MAP_IMPORTED_CONFIG_DEBUG ""
-          MAP_IMPORTED_CONFIG_RELEASE ""
-          MAP_IMPORTED_CONFIG_RELWITHDEBINFO ""
-          MAP_IMPORTED_CONFIG_MINSIZEREL ""
-      )
-    endif()
-  endforeach(__cvcomponent)
-endif()
-set(OpenCV_LIBRARIES ${OpenCV_LIBS})
-
+find_package(OpenCV 4 REQUIRED)
 find_package(OpenMVG QUIET REQUIRED)
 
 find_package(Protobuf REQUIRED)

dense_map/geometry_mapper/tools/geometry_mapper.py

@@ -477,18 +477,18 @@ def run_cmd(cmd, log_file, verbose=False):
     cmd_str = format_cmd(cmd)
     print(cmd_str + "\n")
 
-    with open(log_file, "w", buffering=0) as f:  # replace 'w' with 'wb' for Python 3
-        f.write(cmd_str + "\n")
+    with open(log_file, "wb", buffering=0) as f:
+        f.write((cmd_str + "\n").encode())
         process = subprocess.Popen(cmd, stdout=subprocess.PIPE)
-        for line in iter(
-            process.stdout.readline, ""
-        ):  # replace '' with b'' for Python 3
+
+        for line in iter(process.stdout.readline, b""):
             if verbose:
-                sys.stdout.write(line)
+                sys.stdout.write(line.decode())
             f.write(line)
 
         # If a certain step failed, do not continue
         process.wait()
+
         if process.returncode != 0:
             print("Failed execution of: " + " ".join(cmd))
             sys.exit(1)

pano/pano_stitch/scripts/stitch_panorama.py

@@ -41,7 +41,7 @@
 from tf.transformations import euler_from_quaternion
 
 RAD2DEG = 180 / math.pi
-IMAGE_TOPIC = "/hw/cam_sci_info"
+IMAGE_TOPIC = ["/hw/cam_sci/compressed", "/hw/cam_sci_info"]
 POSE_TOPIC = "/loc/pose"
 UNDISTORT_ENV_VARS = [
     "ASTROBEE_RESOURCE_DIR",
@@ -214,8 +214,9 @@ def get_image_meta(inbag_path, images_dir, skip_images_str):
     with rosbag.Bag(inbag_path) as bag:
         need_pose = False
         print("Detecting images:")
-        for topic, msg, t in bag.read_messages([IMAGE_TOPIC, POSE_TOPIC]):
-            if topic == IMAGE_TOPIC:
+        topics = IMAGE_TOPIC + [POSE_TOPIC]
+        for topic, msg, t in bag.read_messages(topics):
+            if topic in IMAGE_TOPIC:
                 img_path = os.path.join(
                     images_dir,
                     str(msg.header.stamp.secs)
@@ -426,14 +427,12 @@ def next(self):
 
 def read_pto(pano, pto_path):
     print("\nread_pto: %s" % pto_path)
-    ifs = hsi.ifstream(pto_path)
-    pano.readData(ifs)
+    pano.ReadPTOFile(pto_path)
 
 
 def write_pto(pano, pto_path):
     print("\nwrite_pto: %s" % pto_path)
-    ofs = hsi.ofstream(pto_path)
-    pano.writeData(ofs)
+    pano.WritePTOFile(pto_path)
 
 
 def get_timestamp():
@@ -732,7 +731,9 @@ def main():
             "Preserving final metadata %s alongside output pano image"
             % os.path.basename(pto_final)
         )
-        shutil.copyfile(pto_final, output_dir)
+        shutil.copyfile(
+            pto_final, os.path.join(output_dir, os.path.basename(pto_final))
+        )
 
         print("\n=== Final stitched pano in %s ===\n" % final_png_path)