gentoo resync : 25.08.2020

2 files changed, 7 insertions, 436 deletions

diff --git a/dev-ros/cv_bridge/files/boostpython.patch b/dev-ros/cv_bridge/files/boostpython.patch
index 72fac8087363..a6192f98be24 100644
--- a/dev-ros/cv_bridge/files/boostpython.patch
+++ b/dev-ros/cv_bridge/files/boostpython.patch
@@ -2,14 +2,17 @@ Index: cv_bridge/CMakeLists.txt
 ===================================================================
 --- cv_bridge.orig/CMakeLists.txt
 +++ cv_bridge/CMakeLists.txt
-@@ -5,11 +5,7 @@ find_package(catkin REQUIRED COMPONENTS
+@@ -5,14 +5,7 @@ find_package(catkin REQUIRED COMPONENTS
  
  if(NOT ANDROID)
    find_package(PythonLibs)
--  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
--    find_package(Boost REQUIRED python)
+-
+-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS "3.8")
+-    # Debian Buster
+-    find_package(Boost REQUIRED python37)
 -  else()
--    find_package(Boost REQUIRED python3)
+-    # Ubuntu Focal
+-    find_package(Boost REQUIRED python)
 -  endif()
 +  find_package(Boost REQUIRED python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR})
  else()
diff --git a/dev-ros/cv_bridge/files/ocv4.patch b/dev-ros/cv_bridge/files/ocv4.patch
deleted file mode 100644
index 8a58408c9e8e..000000000000
--- a/dev-ros/cv_bridge/files/ocv4.patch
+++ /dev/null
@@ -1,432 +0,0 @@
-From b0281a5c844ea0b0d9e0104674474adf50810f49 Mon Sep 17 00:00:00 2001
-From: BrutusTT <brutusthetschiepel@gmail.com>
-Date: Wed, 4 Sep 2019 11:39:30 +0100
-Subject: [PATCH 1/2] add OpenCV4 support addresses
- ros-perception/vision_opencv#272
-
----
- cv_bridge/CMakeLists.txt     | 2 +-
- cv_bridge/src/CMakeLists.txt | 8 +++++---
- 2 files changed, 6 insertions(+), 4 deletions(-)
-
-diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
-index 997bef3e..c203aad1 100644
---- a/cv_bridge/CMakeLists.txt
-+++ b/cv_bridge/CMakeLists.txt
-@@ -13,7 +13,7 @@ if(NOT ANDROID)
- else()
- find_package(Boost REQUIRED)
- endif()
--find_package(OpenCV 3 REQUIRED
-+find_package(OpenCV REQUIRED
-   COMPONENTS
-     opencv_core
-     opencv_imgproc
-diff --git a/cv_bridge/src/CMakeLists.txt b/cv_bridge/src/CMakeLists.txt
-index 37ba30ee..6d91003b 100644
---- a/cv_bridge/src/CMakeLists.txt
-+++ b/cv_bridge/src/CMakeLists.txt
-@@ -32,10 +32,12 @@ if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
-   add_definitions(-DPYTHON3)
- endif()
- 
--if (OpenCV_VERSION_MAJOR VERSION_EQUAL 3)
--add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
-+if (OpenCV_VERSION_MAJOR VERSION_EQUAL 4)
-+  add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp)
-+elseif(OpenCV_VERSION_MAJOR VERSION_EQUAL 3)
-+  add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
- else()
--add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
-+  add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
- endif()
- target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
-                                             ${catkin_LIBRARIES}
-
-From 8e01b44c5c1c0003dc91273076f8ca7feb9a8025 Mon Sep 17 00:00:00 2001
-From: BrutusTT <brutusthetschiepel@gmail.com>
-Date: Thu, 17 Oct 2019 14:37:40 +0100
-Subject: [PATCH 2/2] added missig file
-
----
- cv_bridge/src/module_opencv4.cpp | 371 +++++++++++++++++++++++++++++++
- 1 file changed, 371 insertions(+)
- create mode 100644 cv_bridge/src/module_opencv4.cpp
-
-diff --git a/cv_bridge/src/module_opencv4.cpp b/cv_bridge/src/module_opencv4.cpp
-new file mode 100644
-index 00000000..60a9d05d
---- /dev/null
-+++ b/cv_bridge/src/module_opencv4.cpp
-@@ -0,0 +1,371 @@
-+// Taken from opencv/modules/python/src2/cv2.cpp
-+
-+#include "module.hpp"
-+
-+#include "opencv2/core/types_c.h"
-+
-+#include "opencv2/opencv_modules.hpp"
-+
-+#include "pycompat.hpp"
-+
-+static PyObject* opencv_error = 0;
-+
-+static int failmsg(const char *fmt, ...)
-+{
-+    char str[1000];
-+
-+    va_list ap;
-+    va_start(ap, fmt);
-+    vsnprintf(str, sizeof(str), fmt, ap);
-+    va_end(ap);
-+
-+    PyErr_SetString(PyExc_TypeError, str);
-+    return 0;
-+}
-+
-+struct ArgInfo
-+{
-+    const char * name;
-+    bool outputarg;
-+    // more fields may be added if necessary
-+
-+    ArgInfo(const char * name_, bool outputarg_)
-+        : name(name_)
-+        , outputarg(outputarg_) {}
-+
-+    // to match with older pyopencv_to function signature
-+    operator const char *() const { return name; }
-+};
-+
-+class PyAllowThreads
-+{
-+public:
-+    PyAllowThreads() : _state(PyEval_SaveThread()) {}
-+    ~PyAllowThreads()
-+    {
-+        PyEval_RestoreThread(_state);
-+    }
-+private:
-+    PyThreadState* _state;
-+};
-+
-+class PyEnsureGIL
-+{
-+public:
-+    PyEnsureGIL() : _state(PyGILState_Ensure()) {}
-+    ~PyEnsureGIL()
-+    {
-+        PyGILState_Release(_state);
-+    }
-+private:
-+    PyGILState_STATE _state;
-+};
-+
-+#define ERRWRAP2(expr) \
-+try \
-+{ \
-+    PyAllowThreads allowThreads; \
-+    expr; \
-+} \
-+catch (const cv::Exception &e) \
-+{ \
-+    PyErr_SetString(opencv_error, e.what()); \
-+    return 0; \
-+}
-+
-+using namespace cv;
-+
-+static PyObject* failmsgp(const char *fmt, ...)
-+{
-+  char str[1000];
-+
-+  va_list ap;
-+  va_start(ap, fmt);
-+  vsnprintf(str, sizeof(str), fmt, ap);
-+  va_end(ap);
-+
-+  PyErr_SetString(PyExc_TypeError, str);
-+  return 0;
-+}
-+
-+class NumpyAllocator : public MatAllocator
-+{
-+public:
-+    NumpyAllocator() { stdAllocator = Mat::getStdAllocator(); }
-+    ~NumpyAllocator() {}
-+
-+    UMatData* allocate(PyObject* o, int dims, const int* sizes, int type, size_t* step) const
-+    {
-+        UMatData* u = new UMatData(this);
-+        u->data = u->origdata = (uchar*)PyArray_DATA((PyArrayObject*) o);
-+        npy_intp* _strides = PyArray_STRIDES((PyArrayObject*) o);
-+        for( int i = 0; i < dims - 1; i++ )
-+            step[i] = (size_t)_strides[i];
-+        step[dims-1] = CV_ELEM_SIZE(type);
-+        u->size = sizes[0]*step[0];
-+        u->userdata = o;
-+        return u;
-+    }
-+
-+    UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, AccessFlag flags, UMatUsageFlags usageFlags) const
-+    {
-+        if( data != 0 )
-+        {
-+            CV_Error(Error::StsAssert, "The data should normally be NULL!");
-+            // probably this is safe to do in such extreme case
-+            return stdAllocator->allocate(dims0, sizes, type, data, step, flags, usageFlags);
-+        }
-+        PyEnsureGIL gil;
-+
-+        int depth = CV_MAT_DEPTH(type);
-+        int cn = CV_MAT_CN(type);
-+        const int f = (int)(sizeof(size_t)/8);
-+        int typenum = depth == CV_8U ? NPY_UBYTE : depth == CV_8S ? NPY_BYTE :
-+        depth == CV_16U ? NPY_USHORT : depth == CV_16S ? NPY_SHORT :
-+        depth == CV_32S ? NPY_INT : depth == CV_32F ? NPY_FLOAT :
-+        depth == CV_64F ? NPY_DOUBLE : f*NPY_ULONGLONG + (f^1)*NPY_UINT;
-+        int i, dims = dims0;
-+        cv::AutoBuffer<npy_intp> _sizes(dims + 1);
-+        for( i = 0; i < dims; i++ )
-+            _sizes[i] = sizes[i];
-+        if( cn > 1 )
-+            _sizes[dims++] = cn;
-+        PyObject* o = PyArray_SimpleNew(dims, _sizes.data(), typenum);
-+        if(!o)
-+            CV_Error_(Error::StsError, ("The numpy array of typenum=%d, ndims=%d can not be created", typenum, dims));
-+        return allocate(o, dims0, sizes, type, step);
-+    }
-+
-+    bool allocate(UMatData* u, AccessFlag accessFlags, UMatUsageFlags usageFlags) const CV_OVERRIDE
-+    {
-+        return stdAllocator->allocate(u, accessFlags, usageFlags);
-+    }
-+
-+    void deallocate(UMatData* u) const CV_OVERRIDE
-+    {
-+        if(!u)
-+            return;
-+        PyEnsureGIL gil;
-+        CV_Assert(u->urefcount >= 0);
-+        CV_Assert(u->refcount >= 0);
-+        if(u->refcount == 0)
-+        {
-+            PyObject* o = (PyObject*)u->userdata;
-+            Py_XDECREF(o);
-+            delete u;
-+        }                                                   
-+    }
-+
-+    const MatAllocator* stdAllocator;
-+};
-+
-+NumpyAllocator g_numpyAllocator;
-+
-+
-+template<typename T> static
-+bool pyopencv_to(PyObject* obj, T& p, const char* name = "<unknown>");
-+
-+template<typename T> static
-+PyObject* pyopencv_from(const T& src);
-+
-+enum { ARG_NONE = 0, ARG_MAT = 1, ARG_SCALAR = 2 };
-+
-+// special case, when the convertor needs full ArgInfo structure
-+static bool pyopencv_to(PyObject* o, Mat& m, const ArgInfo info)
-+{
-+      // to avoid PyArray_Check() to crash even with valid array
-+    do_numpy_import( );
-+
-+
-+    bool allowND = true;
-+    if(!o || o == Py_None)
-+    {
-+        if( !m.data )
-+            m.allocator = &g_numpyAllocator;
-+        return true;
-+    }
-+
-+    if( PyInt_Check(o) )
-+    {
-+        double v[] = {(double)PyInt_AsLong((PyObject*)o), 0., 0., 0.};
-+        m = Mat(4, 1, CV_64F, v).clone();
-+        return true;
-+    }
-+    if( PyFloat_Check(o) )
-+    {
-+        double v[] = {PyFloat_AsDouble((PyObject*)o), 0., 0., 0.};
-+        m = Mat(4, 1, CV_64F, v).clone();
-+        return true;
-+    }
-+    if( PyTuple_Check(o) )
-+    {
-+        int i, sz = (int)PyTuple_Size((PyObject*)o);
-+        m = Mat(sz, 1, CV_64F);
-+        for( i = 0; i < sz; i++ )
-+        {
-+            PyObject* oi = PyTuple_GET_ITEM(o, i);
-+            if( PyInt_Check(oi) )
-+                m.at<double>(i) = (double)PyInt_AsLong(oi);
-+            else if( PyFloat_Check(oi) )
-+                m.at<double>(i) = (double)PyFloat_AsDouble(oi);
-+            else
-+            {
-+                failmsg("%s is not a numerical tuple", info.name);
-+                m.release();
-+                return false;
-+            }
-+        }
-+        return true;
-+    }
-+
-+    if( !PyArray_Check(o) )
-+    {
-+        failmsg("%s is not a numpy array, neither a scalar", info.name);
-+        return false;
-+    }
-+
-+    PyArrayObject* oarr = (PyArrayObject*) o;
-+
-+    bool needcopy = false, needcast = false;
-+    int typenum = PyArray_TYPE(oarr), new_typenum = typenum;
-+    int type = typenum == NPY_UBYTE ? CV_8U :
-+               typenum == NPY_BYTE ? CV_8S :
-+               typenum == NPY_USHORT ? CV_16U :
-+               typenum == NPY_SHORT ? CV_16S :
-+               typenum == NPY_INT ? CV_32S :
-+               typenum == NPY_INT32 ? CV_32S :
-+               typenum == NPY_FLOAT ? CV_32F :
-+               typenum == NPY_DOUBLE ? CV_64F : -1;
-+
-+    if( type < 0 )
-+    {
-+        if( typenum == NPY_INT64 || typenum == NPY_UINT64 || type == NPY_LONG )
-+        {
-+            needcopy = needcast = true;
-+            new_typenum = NPY_INT;
-+            type = CV_32S;
-+        }
-+        else
-+        {
-+            failmsg("%s data type = %d is not supported", info.name, typenum);
-+            return false;
-+        }
-+    }
-+
-+#ifndef CV_MAX_DIM
-+    const int CV_MAX_DIM = 32;
-+#endif
-+
-+    int ndims = PyArray_NDIM(oarr);
-+    if(ndims >= CV_MAX_DIM)
-+    {
-+        failmsg("%s dimensionality (=%d) is too high", info.name, ndims);
-+        return false;
-+    }
-+
-+    int size[CV_MAX_DIM+1];
-+    size_t step[CV_MAX_DIM+1];
-+    size_t elemsize = CV_ELEM_SIZE1(type);
-+    const npy_intp* _sizes = PyArray_DIMS(oarr);
-+    const npy_intp* _strides = PyArray_STRIDES(oarr);
-+    bool ismultichannel = ndims == 3 && _sizes[2] <= CV_CN_MAX;
-+
-+    for( int i = ndims-1; i >= 0 && !needcopy; i-- )
-+    {
-+        // these checks handle cases of
-+        //  a) multi-dimensional (ndims > 2) arrays, as well as simpler 1- and 2-dimensional cases
-+        //  b) transposed arrays, where _strides[] elements go in non-descending order
-+        //  c) flipped arrays, where some of _strides[] elements are negative
-+        if( (i == ndims-1 && (size_t)_strides[i] != elemsize) ||
-+            (i < ndims-1 && _strides[i] < _strides[i+1]) )
-+            needcopy = true;
-+    }
-+
-+    if( ismultichannel && _strides[1] != (npy_intp)elemsize*_sizes[2] )
-+        needcopy = true;
-+
-+    if (needcopy)
-+    {
-+        if (info.outputarg)
-+        {
-+            failmsg("Layout of the output array %s is incompatible with cv::Mat (step[ndims-1] != elemsize or step[1] != elemsize*nchannels)", info.name);
-+            return false;
-+        }
-+
-+        if( needcast ) {
-+            o = PyArray_Cast(oarr, new_typenum);
-+            oarr = (PyArrayObject*) o;
-+        }
-+        else {
-+            oarr = PyArray_GETCONTIGUOUS(oarr);
-+            o = (PyObject*) oarr;
-+        }
-+
-+        _strides = PyArray_STRIDES(oarr);
-+    }
-+
-+    for(int i = 0; i < ndims; i++)
-+    {
-+        size[i] = (int)_sizes[i];
-+        step[i] = (size_t)_strides[i];
-+    }
-+
-+    // handle degenerate case
-+    if( ndims == 0) {
-+        size[ndims] = 1;
-+        step[ndims] = elemsize;
-+        ndims++;
-+    }
-+
-+    if( ismultichannel )
-+    {
-+        ndims--;
-+        type |= CV_MAKETYPE(0, size[2]);
-+    }
-+
-+    if( ndims > 2 && !allowND )
-+    {
-+        failmsg("%s has more than 2 dimensions", info.name);
-+        return false;
-+    }
-+
-+    m = Mat(ndims, size, type, PyArray_DATA(oarr), step);
-+    m.u = g_numpyAllocator.allocate(o, ndims, size, type, step);
-+    m.addref();
-+
-+    if( !needcopy )
-+    {
-+        Py_INCREF(o);
-+    }
-+    m.allocator = &g_numpyAllocator;
-+
-+    return true;
-+}
-+
-+template<>
-+bool pyopencv_to(PyObject* o, Mat& m, const char* name)
-+{
-+    return pyopencv_to(o, m, ArgInfo(name, 0));
-+}
-+
-+PyObject* pyopencv_from(const Mat& m)
-+{
-+    if( !m.data )
-+        Py_RETURN_NONE;
-+    Mat temp, *p = (Mat*)&m;
-+    if(!p->u || p->allocator != &g_numpyAllocator)
-+    {
-+        temp.allocator = &g_numpyAllocator;
-+        ERRWRAP2(m.copyTo(temp));
-+        p = &temp;
-+    }
-+    PyObject* o = (PyObject*)p->u->userdata;
-+    Py_INCREF(o);
-+    return o;
-+}
-+
-+int convert_to_CvMat2(const PyObject* o, cv::Mat& m)
-+{
-+    pyopencv_to(const_cast<PyObject*>(o), m, "unknown");
-+    return 0;
-+}