opencv: Switchover to use GoCV and OpenCV 3.3

Signed-off-by: deadprogram <ron@hybridgroup.com>

.travis.yml

@@ -13,26 +13,46 @@ matrix:
 addons:
    apt:
       packages:
-         - libcv-dev
+         - libgmp-dev
-         - libcvaux-dev
+         - build-essential
-         - libhighgui-dev
+         - cmake
-         - libopencv-dev
+         - git
+         - libgtk2.0-dev
+         - pkg-config
+         - libavcodec-dev
+         - libavformat-dev
+         - libswscale-dev
+         - libtbb2
+         - libtbb-dev
+         - libjpeg-dev
+         - libpng-dev
+         - libtiff-dev
+         - libjasper-dev
+         - libdc1394-22-dev
          - libsdl2-dev
          - libsdl2-image-dev
          - libsdl2-2.0.0
          - libusb-dev
          - xvfb
          - unzip
-         - libgtk2.0-0
 before_install:
+   - ./travis_build_opencv.sh
+   - export PKG_CONFIG_PATH=$(pkg-config --variable pc_path pkg-config):$HOME/usr/lib/pkgconfig
+   - export INCLUDE_PATH=$HOME/usr/include:${INCLUDE_PATH}
+   - export LD_LIBRARY_PATH=$HOME/usr/lib:${LD_LIBRARY_PATH}
+   - sudo ln /dev/null /dev/raw1394
    - cd $HOME/gopath/src/gobot.io/x/gobot
    - go get github.com/axw/gocov/gocov
+before_cache:
+   - rm -f $HOME/fresh-cache   
 install:
    - make deps
 before_script:
    - export DISPLAY=:99.0
    - sh -e /etc/init.d/xvfb start
 script:
+   - export CGO_CPPFLAGS="-I${HOME}/usr/include"
+   - export CGO_LDFLAGS="-L${HOME}/usr/lib -lopencv_core -lopencv_videoio -lopencv_imgproc -lopencv_highgui -lopencv_imgcodecs -lopencv_objdetect -lopencv_calib3d"
    - echo "Ensuring code is well formatted"; ! gofmt -s -d . | read
    - bash -c 'set -e; echo "" > coverage.txt; for d in $(go list ./...); do go test -covermode=set -coverprofile=p.out $d; if [ -f p.out ]; then cat p.out >> coverage.txt; rm p.out; fi; done'
 after_success:
@@ -42,3 +62,8 @@ branches:
       - gobot.io
       - /^gobot-.*$/
 secure: "HggklzWOwKqImvjQe1yvojCoTaUBDrOVXRjsrZaoTaKpUtmho1tpCMtKF1dbyT0T5Y68P6f9e/XyANWVeziJNZ+YmNkY+CNdNYHiNnpl8att3MuL4hpwKDPAqLK8H2G+71j3O/rBvf6oIJHtSEesR5Sbb+2fSmhNFtLrDgp5FZA="
+# Caching so the next build will be fast as possible.
+cache:
+   timeout: 1000
+   directories:
+      - $HOME/usr

Makefile

@@ -50,7 +50,7 @@ deps:
 		github.com/eclipse/paho.mqtt.golang \
 		github.com/hashicorp/go-multierror \
 		github.com/hybridgroup/go-ardrone/client \
-		github.com/lazywei/go-opencv \
+		github.com/hybridgroup/gocv \
 		github.com/mgutz/logxi/v1 \
 		github.com/nats-io/nats \
 		github.com/sigurn/crc8 \

examples/opencv_face_detect.go

@@ -7,11 +7,11 @@ package main
 import (
 	"path"
 	"runtime"
-	"time"
+	//"time"
 
-	cv "github.com/lazywei/go-opencv/opencv"
 	"gobot.io/x/gobot"
 	"gobot.io/x/gobot/platforms/opencv"
+	"github.com/hybridgroup/gocv"
 )
 
 func main() {
@@ -22,20 +22,12 @@ func main() {
 	camera := opencv.NewCameraDriver(0)
 
 	work := func() {
-		var image *cv.IplImage
-
 		camera.On(opencv.Frame, func(data interface{}) {
-			image = data.(*cv.IplImage)
+			i := data.(gocv.Mat)
-		})
-
-		gobot.Every(500*time.Millisecond, func() {
-			if image != nil {
-				i := image.Clone()
 			faces := opencv.DetectFaces(cascade, i)
-				i = opencv.DrawRectangles(i, faces, 0, 255, 0, 5)
+			opencv.DrawRectangles(i, faces, 0, 255, 0, 5)
 			window.ShowImage(i)
-			}
+			window.WaitKey(1)	
-
 		})
 	}
 

examples/opencv_window.go

@@ -5,7 +5,7 @@
 package main
 
 import (
-	cv "github.com/lazywei/go-opencv/opencv"
+	"github.com/hybridgroup/gocv"
 	"gobot.io/x/gobot"
 	"gobot.io/x/gobot/platforms/opencv"
 )
@@ -15,8 +15,10 @@ func main() {
 	camera := opencv.NewCameraDriver(0)
 
 	work := func() {
-		camera.On(camera.Event("frame"), func(data interface{}) {
+		camera.On(opencv.Frame, func(data interface{}) {
-			window.ShowImage(data.(*cv.IplImage))
+			img := data.(gocv.Mat)
+			window.ShowImage(img)
+			window.WaitKey(1)
 		})
 	}
 

platforms/opencv/README.md

@@ -6,14 +6,14 @@ For more info about OpenCV click [here](http://opencv.org/)
 
 ## How to Install
 
-This package requires OpenCV version 2.4 to be installed on your system. Please note that it is not compatible with OpenCV 3.x at this time.
+This package requires OpenCV version 3.3 to be installed on your system.
 
 ### OSX
 
 To install OpenCV on OSX using Homebrew:
 
 ```
-$ brew tap homebrew/science && brew install opencv
+$ brew install opencv
 ```
 
 ### Ubuntu
@@ -44,7 +44,7 @@ Example using the camera.
 package main
 
 import (
-	cv "github.com/lazywei/go-opencv/opencv"
+	"github.com/hybridgroup/gocv"
 	"gobot.io/x/gobot"
 	"gobot.io/x/gobot/platforms/opencv"
 )
@@ -54,8 +54,10 @@ func main() {
 	camera := opencv.NewCameraDriver(0)
 
 	work := func() {
-		camera.On(camera.Event("frame"), func(data interface{}) {
+		camera.On(opencv.Frame, func(data interface{}) {
-			window.ShowImage(data.(*cv.IplImage))
+			img := data.(gocv.Mat)
+			window.ShowImage(img)
+			window.WaitKey(1)
 		})
 	}
 

platforms/opencv/camera_driver.go

@@ -5,13 +5,12 @@ import (
 
 	"time"
 
-	cv "github.com/lazywei/go-opencv/opencv"
+	"github.com/hybridgroup/gocv"
 	"gobot.io/x/gobot"
 )
 
 type capture interface {
-	RetrieveFrame(int) *cv.IplImage
+	Read(img gocv.Mat) bool
-	GrabFrame() bool
 }
 
 const (
@@ -40,9 +39,9 @@ func NewCameraDriver(source interface{}, v ...time.Duration) *CameraDriver {
 		start: func(c *CameraDriver) (err error) {
 			switch v := c.Source.(type) {
 			case string:
-				c.camera = cv.NewFileCapture(v)
+				c.camera, _ = gocv.VideoCaptureFile(v)
 			case int:
-				c.camera = cv.NewCameraCapture(v)
+				c.camera, _ = gocv.VideoCaptureDevice(v)
 			default:
 				return errors.New("Unknown camera source")
 			}
@@ -74,13 +73,11 @@ func (c *CameraDriver) Start() (err error) {
 	if err := c.start(c); err != nil {
 		return err
 	}
+	img := gocv.NewMat()
 	go func() {
 		for {
-			if c.camera.GrabFrame() {
+			if ok := c.camera.Read(img); ok {
-				image := c.camera.RetrieveFrame(1)
+				c.Publish(Frame, img)
-				if image != nil {
-					c.Publish(Frame, image)
-				}
 			}
 			time.Sleep(c.interval)
 		}

platforms/opencv/helpers_test.go

@@ -1,17 +1,15 @@
 package opencv
 
-import cv "github.com/lazywei/go-opencv/opencv"
+import (
+	"github.com/hybridgroup/gocv"
+)
 
 type testCapture struct{}
 
-func (c *testCapture) RetrieveFrame(i int) *cv.IplImage {
+func (c *testCapture) Read(img gocv.Mat) bool {
-	return &cv.IplImage{}
-}
-
-func (c *testCapture) GrabFrame() bool {
 	return true
 }
 
 type testWindow struct{}
 
-func (w *testWindow) ShowImage(i *cv.IplImage) { return }
+func (w *testWindow) ShowImage(img gocv.Mat) { return }

platforms/opencv/utils.go

@@ -1,26 +1,35 @@
 package opencv
 
 import (
-	cv "github.com/lazywei/go-opencv/opencv"
+	"image"
+	"image/color"
+
+	"github.com/hybridgroup/gocv"
 )
 
+var classifier *gocv.CascadeClassifier
+
 // loadHaarClassifierCascade returns open cv HaarCascade loaded
-func loadHaarClassifierCascade(haar string) *cv.HaarCascade {
+func loadCascadeClassifier(haar string) *gocv.CascadeClassifier {
-	return cv.LoadHaarClassifierCascade(haar)
+	if classifier != nil {
+		return classifier
+	}
+
+	c := gocv.NewCascadeClassifier()
+	c.Load(haar)
+	classifier = &c
+	return classifier
 }
 
 // DetectFaces loads Haar cascade to detect face objects in image
-func DetectFaces(haar string, image *cv.IplImage) []*cv.Rect {
+func DetectFaces(haar string, img gocv.Mat) []image.Rectangle {
-	return loadHaarClassifierCascade(haar).DetectObjects(image)
+	return loadCascadeClassifier(haar).DetectMultiScale(img)
 }
 
 // DrawRectangles uses Rect array values to return image with rectangles drawn.
-func DrawRectangles(image *cv.IplImage, rect []*cv.Rect, r int, g int, b int, thickness int) *cv.IplImage {
+func DrawRectangles(img gocv.Mat, rects []image.Rectangle, r int, g int, b int, thickness int) {
-	for _, value := range rect {
+	for _, rect := range rects {
-		cv.Rectangle(image,
+		gocv.Rectangle(img, rect, color.RGBA{uint8(r), uint8(g), uint8(b), 0}, thickness)
-			cv.Point{value.X() + value.Width(), value.Y()},
-			cv.Point{value.X(), value.Y() + value.Height()},
-			cv.NewScalar(float64(b), float64(g), float64(r), 0), thickness, 1, 0)
 	}
-	return image
+	return
 }

platforms/opencv/utils_test.go

@@ -5,14 +5,14 @@ import (
 	"runtime"
 	"testing"
 
-	cv "github.com/lazywei/go-opencv/opencv"
+	"github.com/hybridgroup/gocv"
 	"gobot.io/x/gobot/gobottest"
 )
 
 func TestUtils(t *testing.T) {
 	_, currentfile, _, _ := runtime.Caller(0)
-	image := cv.LoadImage(path.Join(path.Dir(currentfile), "lena-256x256.jpg"))
+	image := gocv.IMRead(path.Join(path.Dir(currentfile), "lena-256x256.jpg"), gocv.IMReadColor)
 	rect := DetectFaces("haarcascade_frontalface_alt.xml", image)
 	gobottest.Refute(t, len(rect), 0)
-	gobottest.Refute(t, DrawRectangles(image, rect, 0, 0, 0, 0), nil)
+	DrawRectangles(image, rect, 0, 0, 0, 0)
 }

platforms/opencv/window_driver.go

@@ -1,12 +1,12 @@
 package opencv
 
 import (
-	cv "github.com/lazywei/go-opencv/opencv"
+	"github.com/hybridgroup/gocv"
 	"gobot.io/x/gobot"
 )
 
 type window interface {
-	ShowImage(*cv.IplImage)
+	IMShow(gocv.Mat)
 }
 
 // WindowDriver is the Gobot Driver for the OpenCV window
@@ -22,7 +22,7 @@ func NewWindowDriver() *WindowDriver {
 	return &WindowDriver{
 		name: "Window",
 		start: func(w *WindowDriver) {
-			w.window = cv.NewWindow(w.Name(), cv.CV_WINDOW_NORMAL)
+			w.window = gocv.NewWindow(w.Name())
 		},
 	}
 }
@@ -38,7 +38,6 @@ func (w *WindowDriver) Connection() gobot.Connection { return nil }
 
 // Start starts window thread and driver
 func (w *WindowDriver) Start() (err error) {
-	cv.StartWindowThread()
 	w.start(w)
 	return
 }
@@ -47,6 +46,11 @@ func (w *WindowDriver) Start() (err error) {
 func (w *WindowDriver) Halt() (err error) { return }
 
 // ShowImage displays image in window
-func (w *WindowDriver) ShowImage(image *cv.IplImage) {
+func (w *WindowDriver) ShowImage(img gocv.Mat) {
-	w.window.ShowImage(image)
+	w.window.IMShow(img)
+}
+
+// WaitKey gives window a chance to redraw, and checks for keyboard input
+func (w *WindowDriver) WaitKey(pause int) int {
+	return gocv.WaitKey(pause)
 }

platforms/opencv/window_driver_test.go

@@ -6,7 +6,7 @@ import (
 	"strings"
 	"testing"
 
-	cv "github.com/lazywei/go-opencv/opencv"
+	"github.com/hybridgroup/gocv"
 	"gobot.io/x/gobot"
 	"gobot.io/x/gobot/gobottest"
 )
@@ -44,7 +44,7 @@ func TestWindowDriverHalt(t *testing.T) {
 func TestWindowDriverShowImage(t *testing.T) {
 	d := initTestWindowDriver()
 	_, currentfile, _, _ := runtime.Caller(0)
-	image := cv.LoadImage(path.Join(path.Dir(currentfile), "lena-256x256.jpg"))
+	image := gocv.IMRead(path.Join(path.Dir(currentfile), "lena-256x256.jpg"), gocv.IMReadColor)
 	d.Start()
 	d.ShowImage(image)
 }

travis_build_opencv.sh

@@ -0,0 +1,58 @@
+#!/bin/bash
+set -eux -o pipefail
+
+OPENCV_VERSION=${OPENCV_VERSION:-3.3.0}
+
+#GRAPHICAL=ON
+GRAPHICAL=${GRAPHICAL:-OFF}
+
+# OpenCV looks for libjpeg in /usr/lib/libjpeg.so, for some reason. However,
+# it does not seem to be there in 14.04. Create a link
+
+mkdir -p $HOME/usr/lib
+
+if [[ ! -f "$HOME/usr/lib/libjpeg.so" ]]; then
+  ln -s /usr/lib/x86_64-linux-gnu/libjpeg.so $HOME/usr/lib/libjpeg.so
+fi
+
+# Same for libpng.so
+
+if [[ ! -f "$HOME/usr/lib/libpng.so" ]]; then
+  ln -s /usr/lib/x86_64-linux-gnu/libpng.so $HOME/usr/lib/libpng.so
+fi
+
+# Build OpenCV
+if [[ ! -e "$HOME/usr/installed-${OPENCV_VERSION}" ]]; then
+TMP=$(mktemp -d)
+if [[ ! -d "opencv-${OPENCV_VERSION}/build" ]]; then
+  curl -sL https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip > ${TMP}/opencv.zip
+  unzip -q ${TMP}/opencv.zip
+  mkdir opencv-${OPENCV_VERSION}/build
+  rm ${TMP}/opencv.zip
+fi
+
+if [[ ! -d "opencv_contrib-${OPENCV_VERSION}/modules" ]]; then
+   curl -sL https://github.com/opencv/opencv_contrib/archive/${OPENCV_VERSION}.zip > ${TMP}/opencv-contrib.zip
+   unzip -q ${TMP}/opencv-contrib.zip
+   rm ${TMP}/opencv-contrib.zip
+fi
+rmdir ${TMP}
+
+cd opencv-${OPENCV_VERSION}/build
+cmake -D WITH_IPP=${GRAPHICAL} \
+      -D WITH_OPENGL=${GRAPHICAL} \
+      -D WITH_QT=${GRAPHICAL} \
+      -D BUILD_EXAMPLES=OFF \
+      -D BUILD_TESTS=OFF \
+      -D BUILD_PERF_TESTS=OFF  \
+      -D BUILD_opencv_java=OFF \
+      -D BUILD_opencv_python=OFF \
+      -D BUILD_opencv_python2=OFF \
+      -D BUILD_opencv_python3=OFF \
+      -D CMAKE_INSTALL_PREFIX=$HOME/usr \
+      -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-${OPENCV_VERSION}/modules ..
+make -j8
+make install && touch $HOME/usr/installed-${OPENCV_VERSION}
+cd ../..
+touch $HOME/fresh-cache
+fi