YARP does not compile with OpenCV 4 #1672

Nicogene · 2018-05-03T16:13:31Z

I pulled opencv and yarpdataplayer and yarpdatadumper doesn't compile:

/home/ngenesio/yarp/src/yarpdatadumper/main.cpp:418:30: error: use of undeclared identifier 'IplImage'
                int frameW=((IplImage*)itemEnd.obj->getPtr())->width;
                             ^
/home/ngenesio/yarp/src/yarpdatadumper/main.cpp:418:39: error: expected expression
                int frameW=((IplImage*)itemEnd.obj->getPtr())->width;
                                      ^
/home/ngenesio/yarp/src/yarpdatadumper/main.cpp:419:30: error: use of undeclared identifier 'IplImage'
                int frameH=((IplImage*)itemEnd.obj->getPtr())->height;
                             ^
/home/ngenesio/yarp/src/yarpdatadumper/main.cpp:419:39: error: expected expression
                int frameH=((IplImage*)itemEnd.obj->getPtr())->height;
                                      ^
/home/ngenesio/yarp/src/yarpdatadumper/main.cpp:428:52: error: use of undeclared identifier 'CV_FOURCC'
                videoWriter.open(videoFile.c_str(),CV_FOURCC('H','F','Y','U'),
                                                   ^
/home/ngenesio/yarp/src/yarpdatadumper/main.cpp:429:38: error: use of undeclared identifier 'cvSize'
                                 fps,cvSize(frameW,frameH),true);
                                     ^
/home/ngenesio/yarp/src/yarpdatadumper/main.cpp:457:49: error: use of undeclared identifier 'IplImage'
                    cv::Mat img=cv::cvarrToMat((IplImage*)item.obj->getPtr());
                                                ^
/home/ngenesio/yarp/src/yarpdatadumper/main.cpp:457:58: error: expected expression
                    cv::Mat img=cv::cvarrToMat((IplImage*)item.obj->getPtr());
                                                         ^
/home/ngenesio/yarp/src/yarpdatadumper/main.cpp:457:37: error: no member named 'cvarrToMat' in namespace 'cv'
                    cv::Mat img=cv::cvarrToMat((IplImage*)item.obj->getPtr());

my opencv_version is 4.0.0-pre.
I'm afraid that in opencv 4 they will remove IplImage and cvarrToMat.
We should make yarp::sig::Image compatible with cv::Mat without taking account of IplImage.

The text was updated successfully, but these errors were encountered:

drdanz · 2018-05-03T16:33:48Z

It could be a good opportunity to get rid of the opencv integration inside YARP_sig, and to add a separate library YARP_opencv

Nicogene · 2018-05-03T16:48:37Z

They moved these classes in different headers or removed the inclusions from the "principal" headers.
Adding :

    #include <opencv2/core/types_c.h>
    #include <opencv2/videoio/videoio_c.h>

compiles 👍
Probably they did these changes to push people to move to cv:Mat, by the way let's wait the official release of OpenCV 4.0.0 scheduled for July 2018

claudiofantacci · 2018-09-21T10:49:44Z

Yes, they are getting rid/transferring C code in dedicated headers.
Anyway, I like the idea proposed by @drdanz and a clean way to integrate our image with opencv which I find somewhat convoluted.

traversaro · 2019-01-29T10:50:08Z

@Nicogene can we change the name of the issue to "YARP does not compile with OpenCV 4" so it is clear what this issue is tracking? Thanks!

traversaro · 2019-01-29T11:43:28Z

If the solution is simply add those includes if OpenCV 4 is used, probably it could make sense to add those lines to solve problems such as #1948?

claudiofantacci · 2019-01-29T12:02:52Z

If the solution is simply add those includes if OpenCV 4 is used, probably it could make sense to add those lines to solve problems such as #1948?

BTW, brew formula opencv@3 is out, we should update our macOS builds accordingly.

traversaro · 2019-01-29T13:09:47Z

cc @nunoguedelha

Nicogene · 2019-01-29T13:10:23Z

BTW, brew formula opencv@3 is out, we should update our macOS builds accordingly.

I agree to use opencv@3 formula, btw in #1948 there is an issue, the formula is keg-only, then actually in macOs builds opencv is not found and then not used.
@claudiofantacci if you do the PR to change the formula could you please also fix this issue?

Nicogene · 2019-01-29T13:13:22Z

If the solution is simply add those includes if OpenCV 4 is used

Unfortunately it is not so simple, because what fixes the builds with opencv 4 breaks the builds with opencv 2, and unfortunately both in appveyor and travis(linux) there are old versions of opencv.

We should use a lot of #ifdef or decide to update the CI infrastructure and drop the support for opencv2

claudiofantacci · 2019-01-29T13:27:48Z

Unfortunately it is not so simple, because what fixes the builds with opencv 4 breaks the builds with opencv 2, and unfortunately both in appveyor and travis(linux) there are old versions of opencv.

We should use a lot of #ifdef or decide to update the CI infrastructure and drop the support for opencv2

Wait a moment, it breaks opencv3. We are not supporting code with opencv2, right?

traversaro · 2019-01-29T13:30:27Z

I agree to use opencv@3 formula, btw in #1948 there is an issue, the formula is keg-only, then actually in macOs builds opencv is not found and then not used.

If a formula is keg-only, we should just properly define the env variables so it can be found, see https:/robotology/robotology-superbuild#system-dependencies-1 for Qt5 for example.

claudiofantacci · 2019-01-29T13:32:39Z

It is keg-only because opencv (i.e. opencv4) is the most updated formula. If we install opencv@3 only, we can just force-link it with brew install --force opencv@3.

Nicogene · 2019-01-29T13:33:34Z

We are not supporting code with opencv2, right?

In theory no, in practice yes 😅 we have trusty on travis.
See : https://packages.ubuntu.com/source/trusty/opencv

claudiofantacci · 2019-01-29T13:35:15Z

In theory yes, in practice no 😅 we have trusty on travis.
See : https://packages.ubuntu.com/source/trusty/opencv

Travis now has xenial and by my understanding we no longer support trusty.
We could just update everything.

nunoguedelha · 2019-01-29T15:54:11Z

It is keg-only because opencv (i.e. opencv4) is the most updated formula. If we install opencv@3 only, we can just force-link it with brew install --force opencv@3.

I guess you meant brew link --force opencv@3...

As a side note, the link to the files in "Cellar" folder is created as /usr/local/share/OpenCV and not /usr/local/lib/cmake/opencv4 as for the normal formula.
Anyway, CMake had no trouble finding it.

For me it's building just fine now.

claudiofantacci · 2019-01-29T16:08:34Z

I guess you meant brew link --force opencv@3

There is a --force option for the install command as well that should do it at install time (we were talking about testing on Travis). I can be wrong, I can't test it atm.

nunoguedelha · 2019-01-29T16:23:58Z

Actually I've tested. Even after uninstalling the opencv4, installing the opencv@3 as you suggested, it would not symlink it. You can always try, better two independent tests than one.

claudiofantacci · 2019-01-29T20:36:29Z

Ok, thanks! Good to keep in mind!

lrapetti · 2019-04-03T10:14:55Z

Actually I've tested. Even after uninstalling the opencv4, installing the opencv@3 as you suggested, it would not symlink it. You can always try, better two independent tests than one.

@nunoguedelha @claudiofantacci
I confirm brew install --force opencv@3 was not enough. I had to do brew unlink opencv, and brew link --force opencv@3 (without the unlink I was not able to link opencv@3 even if using --force).

traversaro · 2019-08-13T07:05:22Z

Status update: the default opencv vcpkg port now builds opencv4 (see microsoft/vcpkg#5169 (comment)). While an opencv3 port is also still available, I will expect that the availability of opencv4 in vcpkg will mean more user will be impacted by this issue.

drdanz · 2019-08-14T06:33:07Z

The main problem here is that debian/ubuntu don't have opencv4 yet (it is currently in debian experimental) therefore we are stuck with supporting opencv3 for a long time, but we can drop opencv2 as long as we drop support for debian stretch (oldstable)
It would be great if we could support opencv4 using only features that are also available in opencv3

drdanz · 2019-11-14T08:21:04Z

OpenCV 4.1.3 landed in debian testing. This means that it will also be in the next Ubuntu LTS (20.04).
Therefore supporting OpenCV 4 is now a major issue. @Nicogene if I remember correctly, some time ago you started working on this, did you come to any conclusion?

drdanz · 2019-11-14T08:23:07Z

OpenCV 4.1.3 landed in debian testing. This means that it will also be in the next Ubuntu LTS (20.04).

Just for the records, this means that OpenCV 3 will no longer be available on debian/ubuntu

Nicogene · 2019-11-14T09:02:47Z

I started working on it some time ago, support both version 3 and 4 was a mess of #ifdef . We have to decide if we want to support only version 4 or both

drdanz · 2019-11-14T09:10:28Z

I think we can drop OpenCV 2 since we have the new icub head image with debian buster, and therefore we can drop support for debian stretch, but we will need to support both OpenCV 3 and 4 for at least 2 more years

CC-Issue: #1672

drdanz · 2019-11-14T09:36:39Z

I disabled building YARP with OpenCV 4, since this will only cause compilation issues.

CC-Issue: robotology#1672

Nicogene · 2019-12-20T15:05:19Z

With #2162 it compiles fine with both OpenCV 3 and 4.

The question is, we want to migrate to the c++ api and leave the old OpenCV 2 api?

cc @pattacini @vtikha @traversaro @drdanz @randaz81 @lornat75 @maggia80

traversaro · 2019-12-20T15:15:21Z

The question is, we want to migrate to the c++ api and leave the old OpenCV 2 api?

cc @pattacini @vtikha @traversaro @drdanz @randaz81 @lornat75 @maggia80

I think we can merge #2162, and afterwards we can discuss if there is any advantage migrating to the new API.

pattacini · 2019-12-20T15:35:00Z

Agree with @traversaro
Anyway, my opinion is to get rid of the old C API. When this needs to be done is up to you.

Nicogene · 2020-01-07T12:53:23Z

Fixed by #2162

Nicogene added Component: Library - YARP_sig Severity: Major Component: GUI - yarpdataplayer Component: Tool - yarpdatadumper labels May 3, 2018

Nicogene mentioned this issue Dec 7, 2018

Add opencv compatibility library #1932

Merged

Nicogene mentioned this issue Jan 15, 2019

Fix macOs build #1948

Merged

traversaro mentioned this issue Jan 29, 2019

Document that either opencv@2 or opencv@3 need to be installed in homebrew robotology/robotology-superbuild#169

Closed

Nicogene changed the title ~~OpenCV troubles~~ YARP does not compile with OpenCV 4 Jan 29, 2019

boranseckin mentioned this issue Oct 23, 2019

Doesn't work with OpenCV 4 robotpy/robotpy-cscore#39

Closed

traversaro mentioned this issue Nov 8, 2019

Installation fails due to stereoCalib on Ubuntu 18.04 robotology/icub-main#619

Closed

drdanz added a commit that referenced this issue Nov 14, 2019

Do not try to build with OpenCV 4 until it is actually supported

218aff6

CC-Issue: #1672

drdanz added a commit to drdanz/yarp that referenced this issue Nov 14, 2019

Do not try to build with OpenCV 4 until it is actually supported

9394537

CC-Issue: robotology#1672

Nicogene mentioned this issue Dec 20, 2019

Support OpenCV 4 #2162

Merged

Nicogene self-assigned this Dec 20, 2019

Nicogene closed this as completed Jan 7, 2020

Nicogene added Fixed in: YARP v3.3.1 Resolution: Fixed labels Jan 7, 2020

traversaro mentioned this issue Jan 13, 2020

Support OpenCV 4 robotology/robotology-superbuild#324

Closed

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YARP does not compile with OpenCV 4 #1672

YARP does not compile with OpenCV 4 #1672

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YARP does not compile with OpenCV 4 #1672

YARP does not compile with OpenCV 4 #1672

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