Merge pull request #1 from rpng/opencv_fixing

Opencv fixing

.github/workflows/build_catkin.yml

@@ -4,7 +4,7 @@ on:
   push:
     branches: [ master, develop_v2.3 ]
   pull_request:
-    branches: [ master ]
+    branches: [ master, develop_v2.3 ]
 
 jobs:
   build:
@@ -24,14 +24,8 @@ jobs:
            sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 &&
            curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add - &&
            sudo apt update && sudo apt -y install build-essential ros-melodic-desktop python-catkin-pkg python-catkin-tools libeigen3-dev git
-    - name: Install OpenCV
-      run: git clone --branch 3.4 https://github.com/opencv/opencv/ &&
-           git clone --branch 3.4 https://github.com/opencv/opencv_contrib/ &&
-           mkdir opencv/build/ && cd opencv/build/ && 
-           cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules -D BUILD_opencv_java=OFF -D BUILD_opencv_python=OFF .. &&
-           make -j2 && sudo make install
     - name: Create Catkin Workspace and compile
       run: export REPO=$(basename $GITHUB_REPOSITORY) &&
            cd $GITHUB_WORKSPACE/.. && mkdir src/ && 
            mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
-           source /opt/ros/melodic/setup.bash && catkin build -j2 --no-status # TODO REPO=open_vins
+           source /opt/ros/melodic/setup.bash && catkin build -j2 --no-status

docs/gs-installing.dox

@@ -28,31 +28,10 @@ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
 source ~/.bashrc
 @endcode
 
-
-
-@section gs-install-opencv OpenCV Dependency
-
-We leverage [OpenCV 3.4](https://opencv.org/) for this project and recommend you compile it from source.
-You can try linking to the one included with ROS but we have always had success with building from source to ensure we have all contributed OpenCV libraries.
-One should make sure you can see some of the "contrib" (e.g. xfeature2d) to ensure you have linked to the contrib modules.
-
-@code{.shell-session}
-git clone --branch 3.4 https://github.com/opencv/opencv/
-git clone --branch 3.4 https://github.com/opencv/opencv_contrib/
-mkdir opencv/build/
-cd opencv/build/
-cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
-make -j8
-sudo make install
-@endcode
-
-
-
-
 @section gs-install-openvins Cloning the OpenVINS Project
 
 
-Now that we have ROS and OpenCV install we can setup a catkin workspace and build the project!
+Now that we have ROS installed we can setup a catkin workspace and build the project!
 If you did not install the catkin_tools build system, you should be able to build using the standard `catkin_make` command that is included with ROS.
 If you run into any problems please google search the issue first and if you are unable to find a solution please open an issue on our github page.
 After the build is successful please following the @ref gs-tutorial guide on getting a dataset and running the system.

ov_core/CMakeLists.txt

@@ -9,6 +9,9 @@ find_package(catkin QUIET COMPONENTS roscpp rosbag tf std_msgs geometry_msgs sen
 # Include libraries
 find_package(Eigen3 REQUIRED)
 find_package(OpenCV 3 REQUIRED)
+
+message(WARNING "OPENCV VERSION: " ${OpenCV_VERSION})
+
 find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
 
 # display message to user

ov_core/src/track/Grider_FAST.h

@@ -24,8 +24,9 @@
 
 #include <vector>
 #include <iostream>
-#include <Eigen/Eigen>
+#include <functional>
 
+#include <Eigen/Eigen>
 
 #include <opencv/cv.hpp>
 #include <opencv2/core/core.hpp>
@@ -35,6 +36,19 @@
 
 namespace ov_core {
 
+    class LambdaBody : public cv::ParallelLoopBody {    
+    public:
+        LambdaBody(const std::function<void(const cv::Range &)> &body) {
+            _body = body;
+        }
+
+        void operator() (const cv::Range & range) const {
+            _body(range);
+        }    
+    private:
+        std::function<void(const cv::Range &)> _body;
+    };
+
     /**
      * @brief Extracts FAST features in a grid pattern.
      *
@@ -91,15 +105,13 @@ namespace ov_core {
 
             // Either we will parellize with opencv parallel for loop
             // Or we will run through a standard double for loop
-            if(multithread) {
-
+            if (multithread) {
                 // Parallelize our 2d grid extraction!!
                 int ct_cols = std::floor(img.cols/size_x);
                 int ct_rows = std::floor(img.rows/size_y);
                 std::vector<std::vector<cv::KeyPoint>> collection(ct_cols*ct_rows);
-                parallel_for_(cv::Range(0, ct_cols*ct_rows), [&](const cv::Range& range) {
+                parallel_for_(cv::Range(0, ct_cols*ct_rows), LambdaBody([&](const cv::Range& range) {
                     for (int r = range.start; r < range.end; r++) {
-
                         // Calculate what cell xy value we are in
                         int x = r%ct_cols*size_x;
                         int y = r/ct_cols*size_y;
@@ -128,14 +140,14 @@ namespace ov_core {
                             collection.at(r).push_back(pt_cor);
                         }
                     }
-                });
+                }));
+
                 // Combine all the collections into our single vector
                 for(size_t r=0; r<collection.size(); r++) {
                     pts.insert(pts.end(),collection.at(r).begin(),collection.at(r).end());
                 }
 
             } else {
-
                 // Lets loop through each grid and extract features
                 for (int x = 0; x < img.cols; x += size_x) {
                     for (int y = 0; y < img.rows; y += size_y) {
@@ -198,4 +210,4 @@ namespace ov_core {
 }
 
 
-#endif /* OV_CORE_GRIDER_FAST_H */
+#endif /* OV_CORE_GRIDER_FAST_H */

ov_core/src/track/TrackDescriptor.h

@@ -21,8 +21,7 @@
 #ifndef OV_CORE_TRACK_DESC_H
 #define OV_CORE_TRACK_DESC_H
 
-
-#include <opencv2/xfeatures2d.hpp>
+#include <opencv2/features2d.hpp>
 
 #include "TrackBase.h"
 
@@ -173,4 +172,4 @@ namespace ov_core {
 }
 
 
-#endif /* OV_CORE_TRACK_DESC_H */
+#endif /* OV_CORE_TRACK_DESC_H */