progress getting rid of opencv

jlblancoc · jlblancoc · commit 27eaecf1981f · 2025-05-03T18:17:47.000+02:00
diff --git a/.lgtm.yml b/.lgtm.yml
@@ -10,7 +10,6 @@ extraction:
       - "cmake"
       - "libwxgtk3.0-dev"
       - "libwxgtk3.0-gtk3-dev"
-      - "libopencv-dev"
       - "libeigen3-dev"
       - "libgtest-dev"
       - "libftdi1-dev"
@@ -23,7 +22,6 @@ extraction:
       - "libavformat-dev"
       - "libswscale-dev"
       - "libassimp-dev"
-      - "libjpeg-dev"
       - "libsuitesparse-dev"
       - "libpcap-dev"
       - "liboctomap-dev"
diff --git a/apps/features-matching/CMakeLists.txt b/apps/features-matching/CMakeLists.txt
@@ -18,9 +18,6 @@ add_executable(${PROJECT_NAME}
 	 ${MRPT_VERSION_RC_FILE}
 )
 
-# Add the required libraries for linking:
-target_link_libraries(${PROJECT_NAME} imp_opencv)
-
 # Dependencies on MRPT libraries:
 #  Just mention the top-level dependency, the rest will be detected automatically,
 #  and all the needed #include<> dirs added (see the script DeclareAppDependencies.cmake for further details)
diff --git a/apps/mrpt-performance/perf-feature_matching.cpp b/apps/mrpt-performance/perf-feature_matching.cpp
@@ -267,9 +267,8 @@ void register_tests_feature_matching()
       "feature_matching [640x480]: Harris + CC", feature_matching_test_Harris_CC, 640, 480);
   lstTests.emplace_back(
       "feature_matching [640x480]: Harris + SAD", feature_matching_test_Harris_SAD, 640, 480);
-#if 0  // crash in opencv 3.1?
-	lstTests.push_back( TestData("feature_matching [640x480]: SIFT", feature_matching_test_SIFT, 640, 480 ) );
-#endif
+  lstTests.push_back(
+      TestData("feature_matching [640x480]: SIFT", feature_matching_test_SIFT, 640, 480));
   lstTests.emplace_back("feature_matching [640x480]: SURF", feature_matching_test_SURF, 640, 480);
   lstTests.emplace_back(
       "feature_matching [640x480]: FAST + CC", feature_matching_test_FAST_CC, 640, 480);
diff --git a/apps/mrpt-performance/perf-images.cpp b/apps/mrpt-performance/perf-images.cpp
@@ -159,10 +159,6 @@ double image_test_2(int w, int h)
 {
   CImage img(w, h, mrpt::img::CH_RGB), img2;
 
-#if MRPT_HAS_OPENCV
-//	int oldVal = cvUseOptimized(1);
-#endif
-
   for (int i = 0; i < 5000; i++)
     img.line(
         getRandomGenerator().drawUniform(0, w - 1), getRandomGenerator().drawUniform(0, h - 1),
@@ -178,9 +174,6 @@ double image_test_2(int w, int h)
 
   double R = tictac.Tac() / N;
 
-#if MRPT_HAS_OPENCV
-//	cvUseOptimized(oldVal);
-#endif
   return R;
 }
 
diff --git a/apps/track-video-features/CMakeLists.txt b/apps/track-video-features/CMakeLists.txt
@@ -18,9 +18,6 @@ add_executable(${PROJECT_NAME}
 	 ${MRPT_VERSION_RC_FILE}
 	)
 
-# Add the required libraries for linking:
-target_link_libraries(${PROJECT_NAME} imp_opencv)
-
 # Dependencies on MRPT libraries:
 #  Just mention the top-level dependency, the rest will be detected automatically,
 #  and all the needed #include<> dirs added (see the script DeclareAppDependencies.cmake for further details)
diff --git a/appveyor.yml b/appveyor.yml
@@ -35,14 +35,6 @@ build_script:
   - dir
 
 install:
-  # ====== Install OpenCV
-  - choco upgrade chocolatey
-  - choco install opencv -y
-  - tree c:\tools\opencv\build /F
-  - set OPENCVDIR=C:\tools\opencv\build\
-  # This variable is parsed by MRPT/cmakemodules/script_opencv.cmake:
-  - set OPENCV_DLLS_TO_INSTALL_DIRS=%OPENCVDIR%bin;%OPENCVDIR%x64\vc16\bin
-  - set PATH=%PATH%;%OPENCVDIR%\bin;%OPENCVDIR%\x64\vc16\bin
   # ====== Install wxWidgets
   - cd c:\
   - ps: Start-FileDownload 'https://github.com/wxWidgets/wxWidgets/releases/download/v3.1.3/wxMSW-3.1.3_vc14x_x64_Dev.7z'
@@ -69,7 +61,7 @@ before_build:
   # AppVeyor has a 90 minutes limit: disable some parts.
   - cmake -S. -Bbuild -G "Visual Studio 16 2019" \
     -DMRPT_EIGEN_USE_EMBEDDED_VERSION=ON -DMRPT_BUILD_ASSIMP=OFF \
-    -DOpenCV_DIR=%OPENCVDIR% -DwxWidgets_ROOT_DIR=%WXWIDGETSDIR% -DwxWidgets_LIB_DIR=%WXWIDGETSLIBDIR% \
+    -DwxWidgets_ROOT_DIR=%WXWIDGETSDIR% -DwxWidgets_LIB_DIR=%WXWIDGETSLIBDIR% \
     -DBUILD_APP_DifOdometry-Camera=OFF -DBUILD_APP_DifOdometry-Datasets=OFF \
     -DBUILD_APP_benchmarking-image-features=OFF \
     -DBUILD_APP_carmen2rawlog=OFF \
diff --git a/cmakemodules/DeclareMRPTLib.cmake b/cmakemodules/DeclareMRPTLib.cmake
@@ -368,7 +368,6 @@ macro(internal_define_mrpt_lib name headers_only )
 			else()
 				# Use cotire module for GCC/CLANG:
 				list(APPEND COTIRE_PREFIX_HEADER_IGNORE_PATH
-					"${OpenCV_INCLUDE_DIR}"
 					"${MRPT_LIBS_ROOT}/${name}/src"
 					"/usr/"  # avoid problems with Cotire trying to include internal GCC headers, not suitable for direct use.
 				)
diff --git a/cmakemodules/script_show_final_summary.cmake b/cmakemodules/script_show_final_summary.cmake
@@ -130,10 +130,8 @@ SHOW_CONFIG_LINE_SYSTEM("ffmpeg libs (Video streaming)       " CMAKE_MRPT_HAS_FF
 SHOW_CONFIG_LINE_SYSTEM("fyaml (YAML/JSON parsing)           " CMAKE_MRPT_HAS_LIBFYAML)
 SHOW_CONFIG_LINE_SYSTEM("gtest (Google unit testing library) " CMAKE_MRPT_HAS_GTEST)
 SHOW_CONFIG_LINE_SYSTEM("jsoncpp (JSON format serialization) " CMAKE_MRPT_HAS_JSONCPP "[Version: ${jsoncpp_VERSION}]")
-SHOW_CONFIG_LINE_SYSTEM("libjpeg (jpeg)                      " CMAKE_MRPT_HAS_JPEG)
 SHOW_CONFIG_LINE       ("mexplus                             " CMAKE_MRPT_HAS_MATLAB)
 SHOW_CONFIG_LINE_SYSTEM("Octomap                             " CMAKE_MRPT_HAS_OCTOMAP "[Version: ${OCTOMAP_VERSION}]")
-SHOW_CONFIG_LINE_SYSTEM("OpenCV (Image manipulation)         " CMAKE_MRPT_HAS_OPENCV "[Version: ${MRPT_OPENCV_VERSION}]")
 SHOW_CONFIG_LINE_SYSTEM("OpenGL                              " CMAKE_MRPT_HAS_OPENGL_GLUT)
 SHOW_CONFIG_LINE_SYSTEM("OpenGL EGL                          " CMAKE_MRPT_HAS_EGL "[Version: ${EGL_VERSION}]")
 SHOW_CONFIG_LINE_SYSTEM("OpenGL GLES                         " CMAKE_MRPT_HAS_GLES "[Version: ${GLESV2_VERSION}]")
@@ -189,13 +187,3 @@ SHOW_CONFIG_LINE_SYSTEM("xSENS MT                            " CMAKE_MRPT_HAS_xS
 SHOW_CONFIG_LINE_SYSTEM("Intersense sensors                  " CMAKE_MRPT_HAS_INTERSENSE)
 message(STATUS  "")
 
-# Final warnings:
-if (NOT CMAKE_MRPT_HAS_OPENCV AND NOT DISABLE_OPENCV)
-	message(STATUS "")
-	message(STATUS "***********************************************************************")
-	message(STATUS "* WARNING: It's STRONGLY recommended to build MRPT with OpenCV support.")
-	message(STATUS "*  To do so, set OpenCV_DIR to its CMake build dir. If you want to go ")
-	message(STATUS "*  on without OpenCV, proceed to build instead. ")
-	message(STATUS "***********************************************************************")
-	message(STATUS "")
-endif()
diff --git a/doc/source/Doxyfile b/doc/source/Doxyfile
@@ -2094,7 +2094,6 @@ PREDEFINED             = MRPT_HAS_SSE2 \
                          MRPT_HAS_SSE4 \
                          MRPT_HAS_MATLAB=1 \
                          MRPT_HAS_WXWIDGETS=1 \
-                         MRPT_HAS_OPENCV=1 \
                          MRPT_HAS_NANOGUI=1
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
diff --git a/doc/source/compiling.rst b/doc/source/compiling.rst
@@ -33,9 +33,8 @@ Minimum compiler requisites:
     
        # All Ubuntu versions:
        sudo apt install build-essential pkg-config cmake \
-         libopencv-dev libeigen3-dev zlib1g-dev \
-         libsuitesparse-dev libjpeg-dev
-         
+         libeigen3-dev zlib1g-dev
+
        # plus, only for Ubuntu < 22.10:
        sudo apt install libwxgtk3.0-gtk3-dev
 
@@ -127,12 +126,6 @@ Minimum compiler requisites:
            nmake -f makefile.vc BUILD=release SHARED=1 RUNTIME_LIBS=dynamic DEBUG_INFO=0 VENDOR=mrpt USE_OPENGL=1 TARGET_CPU=amd64
            nmake -f makefile.vc BUILD=debug SHARED=1 RUNTIME_LIBS=dynamic DEBUG_INFO=1 VENDOR=mrpt USE_OPENGL=1 TARGET_CPU=amd64
 
-    **OpenCV (Optional, but strongly recommended)**
-
-    Download the `latest OpenCV release <https://github.com/opencv/opencv/releases/latest>`_
-    either as source code and compile it, or (easier) install the provided
-    ``opencv-x.y.z-vcZZ.exe`` installer.
-
     **FFmpeg for Win32 (Optional)**
 
     These libraries are optional, you will need them only if you plan to read
diff --git a/doc/source/doxygen-docs/dependencies.md b/doc/source/doxygen-docs/dependencies.md
@@ -15,17 +15,6 @@ https://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_c
 
 ## 2. Optional but strongly recommended
 
-### `opencv`
-
-This is used for almost everything related to computer vision in MRPT.
-Even MRPT-specific computer vision functions or classes cannot work without
-OpenCV since the basic structure for holding images is OpenCV's `cv::Mat`.
-
-If not present, the following classes will raise an exception upon usage:
-- mrpt::img::CImage. Note that creating mrpt::img::CImage objects in the "external storage mode" will not raise an exception unless you really access the image contents.
-- Everything needing access to an image (loading, saving, processing, etc.).
-
-
 ### `wxwidgets`
 
 If this library is not present in the system, the following will raise an exception upon usage:
diff --git a/doc/source/doxygen-docs/lib_mrpt_img.md b/doc/source/doxygen-docs/lib_mrpt_img.md
@@ -19,10 +19,10 @@ Find below some examples of use.
 
 ## Image handling
 
-The class mrpt::img::CImage represents a wrapper around OpenCV images, plus
-extra functionality such as on-the-fly loading of images stored in disk upon
-first usage. The `cv::Mat` object is always available so
-OpenCV's functions can be still used to operate on MRPT images.
+The class mrpt::img::CImage is a custom, portable image container, including
+basic functionality like image loading, saving, and manipulation.
 
+In MRPT 3.0.0 it was ported away from OpenCV so we do not depend 
+on opencv at all for building or running.
 
 # Library contents
diff --git a/modules/mrpt_apps-cli/src/RawlogGrabberApp_unittest.cpp b/modules/mrpt_apps-cli/src/RawlogGrabberApp_unittest.cpp
@@ -18,7 +18,7 @@
 #include <cstdlib>
 #include <thread>
 
-#if MRPT_HAS_FFMPEG && MRPT_HAS_OPENCV
+#if MRPT_HAS_FFMPEG
 TEST(RawlogGrabberApp, CGenericCamera_AVI)
 #else
 TEST(RawlogGrabberApp, DISABLED_CGenericCamera_AVI)
diff --git a/modules/mrpt_apps-gui/src/CGridMapAligner_unittest.cpp b/modules/mrpt_apps-gui/src/CGridMapAligner_unittest.cpp
@@ -15,11 +15,7 @@
 #include <mrpt/system/filesystem.h>
 #include <test_mrpt_common.h>
 
-#if MRPT_HAS_OPENCV
 TEST(CGridMapAligner, alignGridMaps)
-#else
-TEST(CGridMapAligner, DISABLED_alignGridMaps)
-#endif
 {
   const std::string ini_fil =
       mrpt::UNITTEST_BASEDIR() +
diff --git a/modules/mrpt_apps-gui/src/ICP_SLAM_App_unittest.cpp b/modules/mrpt_apps-gui/src/ICP_SLAM_App_unittest.cpp
@@ -48,11 +48,6 @@ void generic_icp_slam_test(
         "MappingApplication", "logOutput_dir", mrpt::system::getTempFileName() + "_dir"s);
     app.params.write("MappingApplication", "SHOW_PROGRESS_3D_REAL_TIME", false);
 
-#if !MRPT_HAS_OPENCV
-    app.params.write("MappingApplication", "SAVE_3D_SCENE", false);
-    app.params.write("MappingApplication", "LOG_FREQUENCY", 0);
-#endif
-
     cfg_changer(app.params);
     app.run();
 
diff --git a/modules/mrpt_apps-gui/src/MonteCarloLocalization_App_unittest.cpp b/modules/mrpt_apps-gui/src/MonteCarloLocalization_App_unittest.cpp
@@ -57,11 +57,6 @@ void generic_pf_test(
     app.fill_out_estimated_path = true;
     app.allow_quit_on_esc_key = false;
 
-#if !MRPT_HAS_OPENCV
-    app.params.write(MCL::sect, "3DSceneFrequency", -1);
-    app.params.write(MCL::sect, "LOG_FREQUENCY", 0);
-#endif
-
     cfg_changer(app.params);
     app.run();
 
diff --git a/modules/mrpt_apps-gui/src/RBPF_SLAM_App_unittest.cpp b/modules/mrpt_apps-gui/src/RBPF_SLAM_App_unittest.cpp
@@ -48,11 +48,6 @@ void generic_rbpf_slam_test(
         "MappingApplication", "logOutput_dir", mrpt::system::getTempFileName() + "_dir"s);
     app.params.write("MappingApplication", "SHOW_PROGRESS_IN_WINDOW", false);
 
-#if !MRPT_HAS_OPENCV
-    app.params.write("MappingApplication", "SAVE_3D_SCENE", false);
-    app.params.write("MappingApplication", "LOG_FREQUENCY", 0);
-#endif
-
     cfg_changer(app.params);
     app.run();
 
diff --git a/modules/mrpt_gui/src/CAboutBoxBase.cpp b/modules/mrpt_gui/src/CAboutBoxBase.cpp
@@ -77,15 +77,6 @@ std::string CAboutBoxBase::information(
 #else
     str += "-ANSI build";
 #endif  // wxUSE_UNICODE
-
-    str += "\nOpenCV version:         ";
-#if MRPT_HAS_OPENCV
-    str += MRPT_OPENCV_VERSION;
-    str += "\n";
-#else
-    str += "None";
-    str += "\n";
-#endif
   }
 
   return str;
diff --git a/modules/mrpt_gui/src/CDisplayWindowGUI.cpp b/modules/mrpt_gui/src/CDisplayWindowGUI.cpp
@@ -14,10 +14,6 @@
 #include <mrpt/gui/config.h>
 #include <mrpt/gui/default_mrpt_glfw_icon.h>
 
-#if MRPT_HAS_OPENCV
-#include <mrpt/3rdparty/do_opencv_includes.h>
-#endif
-
 using namespace mrpt::gui;
 
 #if MRPT_HAS_NANOGUI
@@ -107,7 +103,6 @@ void CDisplayWindowGUI::setWindowTitle(const std::string& str) { Screen::setCapt
 
 void CDisplayWindowGUI::setIcon(const mrpt::img::CImage& img)
 {
-#if MRPT_HAS_OPENCV
   const cv::Mat& cvIn = img.asCvMatRef();
 
   // We need the image to be in RGBA format:
@@ -139,8 +134,6 @@ void CDisplayWindowGUI::setIcon(const mrpt::img::CImage& img)
 #if GLFW_VERSION_MAJOR > 3 || (GLFW_VERSION_MAJOR == 3 && GLFW_VERSION_MINOR >= 2)
   glfwSetWindowIcon(screen()->glfwWindow(), 1, &images);
 #endif
-
-#endif
 }
 
 void CDisplayWindowGUI::setIconFromData(
diff --git a/modules/mrpt_gui/src/WxUtils.cpp b/modules/mrpt_gui/src/WxUtils.cpp
@@ -24,7 +24,6 @@ using namespace std;
 
 wxImage* mrpt::gui::MRPTImage2wxImage(const mrpt::img::CImage& img)
 {
-#if MRPT_HAS_OPENCV
   using namespace std::string_literals;
 
   mrpt::img::CImage new_image(img, mrpt::img::SHALLOW_COPY);
@@ -63,21 +62,14 @@ wxImage* mrpt::gui::MRPTImage2wxImage(const mrpt::img::CImage& img)
 
   // create and return the object
   return new wxImage(w, h, data, false /* false=transfer mem ownership */);
-#else
-  THROW_EXCEPTION("MRPT compiled without OpenCV");
-#endif
 }
 
 wxBitmap* mrpt::gui::MRPTImage2wxBitmap(const mrpt::img::CImage& img)
 {
-#if MRPT_HAS_OPENCV
   auto* i = MRPTImage2wxImage(img);
   auto ret = new wxBitmap(*i);
   delete i;
   return ret;
-#else
-  THROW_EXCEPTION("MRPT compiled without OpenCV");
-#endif
 }
 
 //------------------------------------------------------------------------
diff --git a/modules/mrpt_hwdrivers/CMakeLists.txt b/modules/mrpt_hwdrivers/CMakeLists.txt
@@ -82,10 +82,6 @@ if(TARGET mrpt_xsens)
 	target_link_libraries(hwdrivers PRIVATE mrpt_xsens)
 endif()
 
-if(CMAKE_MRPT_HAS_OPENCV)
-	target_link_libraries(hwdrivers PRIVATE imp_opencv)
-endif()
-
 if(CMAKE_MRPT_HAS_LIBPCAP)
 	target_link_libraries(hwdrivers PRIVATE ${PCAP_LIBRARY})
 
diff --git a/modules/mrpt_img/CMakeLists.txt b/modules/mrpt_img/CMakeLists.txt
@@ -17,9 +17,6 @@ find_package(mrpt_io REQUIRED)
 find_package(mrpt_config REQUIRED)
 find_package(mrpt_math REQUIRED)
 
-include(./cmake/script_jpeg.cmake REQUIRED)        # Check for jpeg
-include(./cmake/script_opencv.cmake REQUIRED)      # Check for the OpenCV libraries (via pkg-config, CMake, with different options)
-
 
 # Include Asian fonts in CMRPTCanvas ?
 set(MRPT_HAS_ASIAN_FONTS ON CACHE BOOL "Enable Asian fonts in CMRPTCanvas (increases library size).")
@@ -87,8 +84,3 @@ if(TARGET test_${PROJECT_NAME})
   target_link_libraries(test_${PROJECT_NAME} imp_opencv)
 endif()
 
-if(CMAKE_MRPT_HAS_JPEG)
-  if(NOT CMAKE_MRPT_HAS_JPEG_SYSTEM)
-    add_dependencies(${PROJECT_NAME} JPEG)
-  endif()
-endif()
diff --git a/modules/mrpt_img/config.h.in b/modules/mrpt_img/config.h.in
@@ -12,19 +12,6 @@
 
 // clang-format off
 
-/** Has MRPT libjpeg? And whether it's in the system (Linux) or built-in (Windows, some rare cases in Linux). */
-#define MRPT_HAS_JPEG             ${CMAKE_MRPT_HAS_JPEG}
-#define MRPT_HAS_JPEG_SYSTEM      ${CMAKE_MRPT_HAS_JPEG_SYSTEM}
-
-/** Includes the OpenCV library, required for image manipulation. */
-#define MRPT_HAS_OPENCV          ${CMAKE_MRPT_HAS_OPENCV}
-
-// Version as text:
-#define MRPT_OPENCV_VERSION      "${MRPT_OPENCV_VERSION}"
-
-// Version as hexadecimal number: eg. 1.0.0 -> 0x100
-#define MRPT_OPENCV_VERSION_NUM  ${MRPT_OPENCV_VERSION_HEX}
-
 /** Enable Katakana, Hiragana & Kanji character sets in mrpt::img::CCanvas.
   *  Disable this to save executable sizes if these fonts will be not used. */
  #define MRPT_HAS_ASIAN_FONTS ${CMAKE_MRPT_HAS_ASIAN_FONTS}
diff --git a/modules/mrpt_img/include/mrpt/3rdparty/do_opencv_includes.h b/modules/mrpt_img/include/mrpt/3rdparty/do_opencv_includes.h
diff --git a/modules/mrpt_img/src/CImage.cpp b/modules/mrpt_img/src/CImage.cpp
diff --git a/modules/mrpt_img/src/CImage_JPEG_streams.cpp b/modules/mrpt_img/src/CImage_JPEG_streams.cpp
diff --git a/modules/mrpt_img/src/CImage_impl.h b/modules/mrpt_img/src/CImage_impl.h
diff --git a/modules/mrpt_img/src/CImage_loadXPM.cpp b/modules/mrpt_img/src/CImage_loadXPM.cpp
diff --git a/modules/mrpt_img/src/CImage_unittest.cpp b/modules/mrpt_img/src/CImage_unittest.cpp
diff --git a/modules/mrpt_obs/CMakeLists.txt b/modules/mrpt_obs/CMakeLists.txt
diff --git a/modules/mrpt_opengl/CMakeLists.txt b/modules/mrpt_opengl/CMakeLists.txt
diff --git a/modules/mrpt_vision/CMakeLists.txt b/modules/mrpt_vision/CMakeLists.txt
diff --git a/modules/mrpt_viz/src/serializations_unittest.cpp b/modules/mrpt_viz/src/serializations_unittest.cpp
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt

Original file line number	Diff line number	Diff line change
`@@ -18,9 +18,6 @@ add_executable(${PROJECT_NAME}`
`18`	`18`	`${MRPT_VERSION_RC_FILE}`
`19`	`19`	`)`
`20`	`20`
`21`		`-# Add the required libraries for linking:`
`22`		`-target_link_libraries(${PROJECT_NAME} imp_opencv)`
`23`		`-`
`24`	`21`	`# Dependencies on MRPT libraries:`
`25`	`22`	`# Just mention the top-level dependency, the rest will be detected automatically,`
`26`	`23`	`# and all the needed #include<> dirs added (see the script DeclareAppDependencies.cmake for further details)`
Original file line number	Diff line number	Diff line change
`@@ -368,7 +368,6 @@ macro(internal_define_mrpt_lib name headers_only )`
`368`	`368`	`else()`
`369`	`369`	`# Use cotire module for GCC/CLANG:`
`370`	`370`	`list(APPEND COTIRE_PREFIX_HEADER_IGNORE_PATH`
`371`		`- "${OpenCV_INCLUDE_DIR}"`
`372`	`371`	`"${MRPT_LIBS_ROOT}/${name}/src"`
`373`	`372`	`"/usr/" # avoid problems with Cotire trying to include internal GCC headers, not suitable for direct use.`
`374`	`373`	`)`