image-pipeline: updating to 1.12.20

Due to the update, this commit drops the two previous patches that
are now included in the upstream development. For depth-image-proc,
the commit provides a patch to properly find Eigen. For image-proc,
the commit adjusts the dependencies and tunes its formatting.

Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>

recipes-ros/image-pipeline/depth-image-proc/0001-find-Eigen3-with-ROS-cmake_modules-script.patch

@@ -0,0 +1,33 @@
+From 579993db0e7ef1f6820b39f4e7598324c0bde097 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Tue, 2 May 2017 08:15:28 +0200
+Subject: [PATCH] find Eigen3 with ROS cmake_modules script
+
+Upstream-Status: Pending
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+---
+ depth_image_proc/CMakeLists.txt | 7 ++-----
+ 1 file changed, 2 insertions(+), 5 deletions(-)
+
+diff --git a/depth_image_proc/CMakeLists.txt b/depth_image_proc/CMakeLists.txt
+index 060d295..dbe26a5 100644
+--- a/depth_image_proc/CMakeLists.txt
++++ b/depth_image_proc/CMakeLists.txt
+@@ -8,11 +8,8 @@ catkin_package(
+     LIBRARIES ${PROJECT_NAME})
+ 
+ find_package(Boost REQUIRED)
+-find_package(Eigen3 QUIET)
+-if(NOT EIGEN3_FOUND)
+-  find_package(Eigen REQUIRED)
+-  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+-endif()
++find_package(Eigen REQUIRED)
++set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+ find_package(OpenCV REQUIRED)
+ include_directories(include ${BOOST_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
+ 
+-- 
+1.9.1
+

recipes-ros/image-pipeline/depth-image-proc_1.12.20.bb

@@ -6,3 +6,5 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9de
 DEPENDS = "boost cv-bridge eigen-conversions image-geometry image-transport message-filters nodelet sensor-msgs stereo-msgs tf2 tf2-ros"
 
 require image-pipeline.inc
+
+SRC_URI += "file://0001-find-Eigen3-with-ROS-cmake_modules-script.patch;striplevel=2"

recipes-ros/image-pipeline/files/0001-address-gcc6-build-error.patch

@@ -1,138 +0,0 @@
-From 6c2d65452bd5fe62723988a1a570789921900d59 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Fri, 30 Sep 2016 15:39:47 +0200
-Subject: [PATCH 1/2] address gcc6 build error
-
-With gcc6, compiling fails with `stdlib.h: No such file or directory`,
-as including '-isystem /usr/include' breaks with gcc6, cf.,
-https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
-
-This commit addresses this issue for this package in the same way
-it was addressed in various other ROS packages. A list of related
-commits and pull requests is at:
-
-  https://github.com/ros/rosdistro/issues/12783
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-
-Upstream-Status: Accepted [https://github.com/ros-perception/image_pipeline/commit/6c2d65452bd5fe62723988a1a570789921900d59]
-
-This patch has been generated with:
-  `git format-patch -2 562332df73781c1e56ce9123542334cc1d91b143`
-in the image_pipeline repository.
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
----
- depth_image_proc/CMakeLists.txt  | 6 +-----
- image_proc/CMakeLists.txt        | 3 +--
- image_publisher/CMakeLists.txt   | 3 +--
- image_rotate/CMakeLists.txt      | 5 +----
- image_view/CMakeLists.txt        | 8 ++++----
- stereo_image_proc/CMakeLists.txt | 4 +---
- 6 files changed, 9 insertions(+), 20 deletions(-)
-
-diff --git a/depth_image_proc/CMakeLists.txt b/depth_image_proc/CMakeLists.txt
-index 0a7c7e2..6ceebfe 100644
---- a/depth_image_proc/CMakeLists.txt
-+++ b/depth_image_proc/CMakeLists.txt
-@@ -10,11 +10,7 @@ catkin_package(
- find_package(Boost REQUIRED)
- find_package(Eigen REQUIRED)
- find_package(OpenCV REQUIRED)
--include_directories(include
--        SYSTEM ${BOOST_INCLUDE_DIRS}
--               ${catkin_INCLUDE_DIRS}
--               ${EIGEN_INCLUDE_DIRS}
--)
-+include_directories(include ${BOOST_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS})
- 
- add_library(${PROJECT_NAME} src/nodelets/convert_metric.cpp
-                              src/nodelets/crop_foremost.cpp
-diff --git a/image_proc/CMakeLists.txt b/image_proc/CMakeLists.txt
-index a13371f..34905f0 100755
---- a/image_proc/CMakeLists.txt
-+++ b/image_proc/CMakeLists.txt
-@@ -17,8 +17,7 @@ catkin_package(
-   LIBRARIES ${PROJECT_NAME}
- )
- 
--include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
--include_directories(include)
-+include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
- 
- # Nodelet library
- add_library(${PROJECT_NAME} src/libimage_proc/processor.cpp
-diff --git a/image_publisher/CMakeLists.txt b/image_publisher/CMakeLists.txt
-index 8015a45..431109c 100644
---- a/image_publisher/CMakeLists.txt
-+++ b/image_publisher/CMakeLists.txt
-@@ -8,8 +8,7 @@ generate_dynamic_reconfigure_options(cfg/ImagePublisher.cfg)
- 
- catkin_package()
- 
--# add the executable
--include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
-+include_directories(${catkin_INCLUDE_DIRS})
- 
- add_library(${PROJECT_NAME} SHARED src/nodelet/image_publisher_nodelet.cpp)
- target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-diff --git a/image_rotate/CMakeLists.txt b/image_rotate/CMakeLists.txt
-index 04ba03b..75d8e77 100644
---- a/image_rotate/CMakeLists.txt
-+++ b/image_rotate/CMakeLists.txt
-@@ -12,10 +12,7 @@ find_package(OpenCV REQUIRED core imgproc)
- find_package(Eigen REQUIRED)
- 
- # add the executable
--include_directories(SYSTEM ${catkin_INCLUDE_DIRS}
--                           ${EIGEN_INCLUDE_DIRS}
--                           ${OpenCV_INCLUDE_DIRS}
--)
-+include_directories(${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
- 
- add_library(${PROJECT_NAME} SHARED src/nodelet/image_rotate_nodelet.cpp)
- target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
-diff --git a/image_view/CMakeLists.txt b/image_view/CMakeLists.txt
-index 78b9eaa..93fabe7 100644
---- a/image_view/CMakeLists.txt
-+++ b/image_view/CMakeLists.txt
-@@ -8,9 +8,9 @@ catkin_package(CATKIN_DEPENDS dynamic_reconfigure)
- find_package(Boost REQUIRED COMPONENTS signals thread)
- find_package(OpenCV REQUIRED)
- 
--include_directories(SYSTEM ${Boost_INCLUDE_DIRS}
--                           ${catkin_INCLUDE_DIRS}
--                           ${OpenCV_INCLUDE_DIRS}
-+include_directories(${Boost_INCLUDE_DIRS}
-+                    ${catkin_INCLUDE_DIRS}
-+                    ${OpenCV_INCLUDE_DIRS}
- )
- 
- # Extra tools
-@@ -40,7 +40,7 @@ endif()
- 
- find_package(GTK2)
- add_definitions(-DHAVE_GTK)
--include_directories(SYSTEM ${GTK2_INCLUDE_DIRS})
-+include_directories(${GTK2_INCLUDE_DIRS})
- 
- # Nodelet library
- add_library(image_view src/nodelets/image_nodelet.cpp src/nodelets/disparity_nodelet.cpp src/nodelets/window_thread.cpp)
-diff --git a/stereo_image_proc/CMakeLists.txt b/stereo_image_proc/CMakeLists.txt
-index b7127d2..e201436 100644
---- a/stereo_image_proc/CMakeLists.txt
-+++ b/stereo_image_proc/CMakeLists.txt
-@@ -16,9 +16,7 @@ catkin_package(
- include_directories(include)
- 
- find_package(OpenCV REQUIRED)
--include_directories(SYSTEM ${catkin_INCLUDE_DIRS}
--                           ${OpenCV_INCLUDE_DIRS}
--)
-+include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
- 
- # Nodelet library
- add_library(${PROJECT_NAME} src/libstereo_image_proc/processor.cpp src/nodelets/disparity.cpp src/nodelets/point_cloud2.cpp)
--- 
-2.5.5
-

recipes-ros/image-pipeline/files/0002-explicitly-cast-to-std-vector-double-to-make-gcc6-ha.patch

@@ -1,57 +0,0 @@
-From 562332df73781c1e56ce9123542334cc1d91b143 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Thu, 6 Oct 2016 08:55:27 +0200
-Subject: [PATCH 2/2] explicitly cast to std::vector<double> to make gcc6 happy
-
-With gcc6, compiling image_publisher fails with this error:
-```
-/[...]/image_publisher/src/nodelet/image_publisher_nodelet.cpp: In member function 'virtual void image_publisher::ImagePublisherNodelet::onInit()':
-/[...]/image_publisher/src/nodelet/image_publisher_nodelet.cpp:180:43: error: ambiguous overload for 'operator=' (operand types are 'sensor_msgs::CameraInfo_<std::allocator<void> >::_D_type {aka std::vector<double>}' and 'boost::assign_detail::generic_list<int>')
-     camera_info_.D = list_of(0)(0)(0)(0)(0);
-```
-
-After adding an initial explicit type cast for the assignment,
-compiling fails further with:
-```
-| /[...]/image_publisher/src/nodelet/image_publisher_nodelet.cpp: In member function 'virtual void image_publisher::ImagePublisherNodelet::onInit()':
-| /[...]/image_publisher/src/nodelet/image_publisher_nodelet.cpp:180:65: error: call of overloaded 'vector(boost::assign_detail::generic_list<int>&)' is ambiguous
-|      camera_info_.D = std::vector<double> (list_of(0)(0)(0)(0)(0));
-```
-
-Various sources on the internet [1, 2, 3] point to use the
-`convert_to_container` method; hence, this commit follows those
-suggestions and with that image_publisher compiles with gcc6.
-
-[1] http://stackoverflow.com/questions/16211410/ambiguity-when-using-boostassignlist-of-to-construct-a-stdvector
-[2] http://stackoverflow.com/questions/12352692/ambiguous-call-with-list-of-in-vs2010/12362548#12362548
-[3] http://stackoverflow.com/questions/13285272/using-boostassignlist-of?rq=1
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-
-Upstream-Status: Accepted [https://github.com/ros-perception/image_pipeline/commit/562332df73781c1e56ce9123542334cc1d91b143]
-
-This patch has been generated with:
-  `git format-patch -2 562332df73781c1e56ce9123542334cc1d91b143`
-in the image_pipeline repository.
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
----
- image_publisher/src/nodelet/image_publisher_nodelet.cpp | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/image_publisher/src/nodelet/image_publisher_nodelet.cpp b/image_publisher/src/nodelet/image_publisher_nodelet.cpp
-index 4102d0d..26e1352 100644
---- a/image_publisher/src/nodelet/image_publisher_nodelet.cpp
-+++ b/image_publisher/src/nodelet/image_publisher_nodelet.cpp
-@@ -177,7 +177,7 @@ public:
-     camera_info_.width = image_.cols;
-     camera_info_.height = image_.rows;
-     camera_info_.distortion_model = "plumb_bob";
--    camera_info_.D = list_of(0)(0)(0)(0)(0);
-+    camera_info_.D = list_of(0)(0)(0)(0)(0).convert_to_container<std::vector<double> >();
-     camera_info_.K = list_of(1)(0)(camera_info_.width/2)(0)(1)(camera_info_.height/2)(0)(0)(1);
-     camera_info_.R = list_of(1)(0)(0)(0)(1)(0)(0)(0)(1);
-     camera_info_.P = list_of(1)(0)(camera_info_.width/2)(0)(0)(1)(camera_info_.height/2)(0)(0)(0)(1)(0);
--- 
-2.5.5
-

recipes-ros/image-pipeline/image-pipeline.inc

@@ -1,9 +1,6 @@
 SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "d727bc9da9f7772649ab7c5c7c9f652e"
+SRC_URI[md5sum] = "af3628ca8adaa73be854775c10ebe8a1"
-SRC_URI[sha256sum] = "fc3073428fc930523efd6ed4a86d838ab0f0ff04a312eb4188c72a854d300e97"
+SRC_URI[sha256sum] = "b69307689c7fb4e62464254fc24ede26c85087b51519f0b43a33e995dabe1a53"
-
-SRC_URI += "file://0001-address-gcc6-build-error.patch;patchdir=.."
-SRC_URI += "file://0002-explicitly-cast-to-std-vector-double-to-make-gcc6-ha.patch;patchdir=.."
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/image-pipeline/image-proc_1.12.20.bb

@@ -3,6 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "boost camera-calibration-parsers cv-bridge dynamic-reconfigure image-geometry image-transport nodelet opencv roscpp sensor-msgs ${PYTHON_PN}-rospkg"
+DEPENDS = "boost camera-calibration-parsers cv-bridge dynamic-reconfigure \
+  image-geometry image-transport nodelet nodelet-topic-tools opencv roscpp \
+  sensor-msgs ${PYTHON_PN}-rospkg"
 
 require image-pipeline.inc