Make wave_utils not depend on opencv (#237)

Part of #234 

- Remove wave_utils dependency on OpenCV
- Move the cv::Mat parser to wave_vision 
- (tacking on) request correct Ceres version

CMakeLists.txt

@@ -38,14 +38,14 @@ OPTION(BUILD_BENCHMARKS
 # Find all dependencies here, and ensure they have IMPORTED targets
 
 # Require Eigen 3.2.92, also called 3.3 beta-1, since it's in xenial
-FIND_PACKAGE(Eigen3 REQUIRED 3.2.92)
+FIND_PACKAGE(Eigen3 3.2.92 REQUIRED)
 FIND_PACKAGE(Boost 1.54.0 COMPONENTS system filesystem)
 FIND_PACKAGE(PCL 1.8 COMPONENTS
     common filters registration kdtree search io visualization)
 FIND_PACKAGE(kindr)
-FIND_PACKAGE(OpenCV 3.2.0 REQUIRED core features2d calib3d imgproc highgui)
+FIND_PACKAGE(OpenCV 3.2.0 COMPONENTS core features2d calib3d imgproc highgui)
 FIND_PACKAGE(yaml-cpp REQUIRED)
-FIND_PACKAGE(Ceres)
+FIND_PACKAGE(Ceres 1.12)
 
 # Where dependencies do not provide IMPORTED targets, define them
 INCLUDE(cmake/ImportEigen3.cmake)

cmake/waveConfig.cmake.in

@@ -94,7 +94,7 @@ FIND_PACKAGE(PCL 1.8 QUIET)
 FIND_PACKAGE(kindr QUIET)
 FIND_PACKAGE(OpenCV 3.2.0 QUIET)
 FIND_PACKAGE(yaml-cpp QUIET)
-FIND_PACKAGE(Ceres QUIET)
+FIND_PACKAGE(Ceres 1.12 QUIET)
 
 # Where dependencies do not provide imported targets, define them
 INCLUDE(${WAVE_EXTRA_CMAKE_DIR}/ImportEigen3.cmake)

wave_utils/CMakeLists.txt

@@ -4,7 +4,6 @@ WAVE_ADD_MODULE(${PROJECT_NAME}
     DEPENDS
     Eigen3::Eigen
     yaml-cpp
-    opencv_core
     SOURCES
     src/config.cpp
     src/data.cpp

wave_utils/include/wave/utils/config.hpp

@@ -14,8 +14,6 @@
 
 #include <yaml-cpp/yaml.h>
 
-#include <opencv2/core/core.hpp>
-
 #include "wave/utils/math.hpp"
 #include "wave/utils/log.hpp"
 #include "wave/utils/file.hpp"
@@ -220,34 +218,6 @@ template struct convert<wave::Vec3>;
 template struct convert<wave::Vec4>;
 template struct convert<wave::VecX>;
 
-
-/** Custom conversion for YAML -> cv::Mat
- *
- * @note We require the yaml node to have three nested keys in order to parse a
- * matrix. They are `rows`, `cols` and `data`.
- *
- * For example:
- * ```yaml
- * some_matrix:
- *   rows: 3
- *   cols: 3
- *   data: [1.1, 2.2, 3.3,
- *          4.4, 5.5, 6.6,
- *          7.7, 8.8, 9.9]
- * ```
- *
-
- */
-template <>
-struct convert<cv::Mat> {
-    /** Convert YAML node to cv matrix
-     *
-     * @throws YAML::InvalidNode if nested keys not found
-     * @returns true if conversion successful
-     */
-    static bool decode(const Node &node, cv::Mat &out);
-};
-
 }  // namespace YAML
 
 #endif  // WAVE_UTILS_CONFIG_HPP

wave_utils/src/config.cpp

@@ -157,30 +157,4 @@ bool convert<Eigen::Matrix<Scalar, Rows, 1>>::decode(
     return true;
 }
 
-bool convert<cv::Mat>::decode(const Node &node, cv::Mat &out) {
-    int rows = node["rows"].as<int>();
-    int cols = node["cols"].as<int>();
-    const auto &data = node["data"];
-
-    // Check `rows` and `cols` values
-    if (rows <= 0 || cols <= 0) {
-        return false;
-    }
-
-    // Check data node is a list of the right length
-    std::size_t expected_size = rows * cols;
-    if (!data.IsSequence() || data.size() != expected_size) {
-        return false;
-    }
-
-    // Copy it to destination
-    out = cv::Mat{rows, cols, CV_64F};
-    for (int i = 0, index = 0; i < rows; i++) {
-        for (int j = 0; j < cols; j++) {
-            out.at<double>(i, j) = node["data"][index++].as<double>();
-        }
-    }
-    return true;
-}
-
 }  // namespace YAML

wave_utils/tests/utils/config_test.cpp

@@ -33,7 +33,6 @@ TEST(Utils_config_ConfigParser, addParam) {
     wave::Mat3 mat3;
     wave::Mat4 mat4;
     wave::MatX matx;
-    cv::Mat cvmat;
 
     wave::ConfigParser parser;
 
@@ -58,9 +57,8 @@ TEST(Utils_config_ConfigParser, addParam) {
     parser.addParam("matrix3", &mat3);
     parser.addParam("matrix4", &mat4);
     parser.addParam("matrix", &matx);
-    parser.addParam("matrix", &cvmat);
 
-    ASSERT_EQ(19, (int) parser.params.size());
+    ASSERT_EQ(18, (int) parser.params.size());
     ASSERT_EQ("bool", parser.params[0]->key);
 }
 
@@ -215,7 +213,6 @@ TEST(Utils_config_ConfigParser, loadMatrix) {
     wave::Mat3 mat3;
     wave::Mat4 mat4;
     wave::MatX matx;
-    cv::Mat cvmat;
     wave::ConfigParser parser;
 
     // setup
@@ -265,18 +262,6 @@ TEST(Utils_config_ConfigParser, loadMatrix) {
             index++;
         }
     }
-
-    // CV MATRIX
-    wave::ConfigParam<cv::Mat> cvmat_param{"matrix", &cvmat};
-    parser.loadParam(cvmat_param);
-
-    index = 0;
-    for (int i = 0; i < 3; i++) {
-        for (int j = 0; j < 4; j++) {
-            ASSERT_FLOAT_EQ((index + 1) * 1.1, cvmat.at<double>(i, j));
-            index++;
-        }
-    }
 }
 
 TEST(Utils_config_ConfigParser, load) {
@@ -301,7 +286,6 @@ TEST(Utils_config_ConfigParser, load) {
     wave::Mat3 mat3;
     wave::Mat4 mat4;
     wave::MatX matx;
-    cv::Mat cvmat;
 
     wave::ConfigParser parser;
 
@@ -326,7 +310,6 @@ TEST(Utils_config_ConfigParser, load) {
     parser.addParam("matrix3", &mat3);
     parser.addParam("matrix4", &mat4);
     parser.addParam("matrix", &matx);
-    parser.addParam("matrix", &cvmat);
 
     auto res = parser.load(TEST_CONFIG);
     EXPECT_EQ(wave::ConfigStatus::OK, res);
@@ -348,6 +331,5 @@ TEST(Utils_config_ConfigParser, load) {
     std::cout << "matrix3: \n" << mat3 << std::endl;
     std::cout << "matrix4: \n" << mat4 << std::endl;
     std::cout << "matrix: \n" << matx << std::endl;
-    std::cout << "cvmatrix: \n" << cvmat << std::endl;
     std::cout << std::endl;
 }

wave_vision/CMakeLists.txt

@@ -29,10 +29,14 @@ IF(BUILD_TESTING)
                   tests/matcher_tests/brute_force_tests.cpp
                   tests/matcher_tests/flann_tests.cpp
                   tests/tracker_tests/tracker_tests.cpp
-                  tests/dataset_tests/vo_dataset_tests.cpp
-                  tests/utils_tests.cpp)
+                  tests/dataset_tests/vo_dataset_tests.cpp)
     TARGET_LINK_LIBRARIES(${PROJECT_NAME}_tests ${PROJECT_NAME})
 
+    WAVE_ADD_TEST(${PROJECT_NAME}_utils_tests
+        tests/utils_tests.cpp)
+    TARGET_LINK_LIBRARIES(${PROJECT_NAME}_utils_tests ${PROJECT_NAME})
+
+
     WAVE_ADD_TEST(${PROJECT_NAME}_viz_tests
         tests/viz_tests/detector_viz_tests.cpp
         tests/viz_tests/descriptor_viz_tests.cpp

wave_vision/include/wave/vision/utils.hpp

@@ -126,4 +126,31 @@ std::vector<cv::Mat> readImageSequence(const std::string &images_path);
 /** @} group vision */
 }  // namespace wave
 
+namespace YAML {
+/** Custom conversion for YAML -> cv::Mat
+ *
+ * @note We require the yaml node to have three nested keys in order to parse a
+ * matrix. They are `rows`, `cols` and `data`.
+ *
+ * For example:
+ * ```yaml
+ * some_matrix:
+ *   rows: 3
+ *   cols: 3
+ *   data: [1.1, 2.2, 3.3,
+ *          4.4, 5.5, 6.6,
+ *          7.7, 8.8, 9.9]
+ * ```
+ */
+template <>
+struct convert<cv::Mat> {
+    /** Convert YAML node to cv matrix
+     *
+     * @throws YAML::InvalidNode if nested keys not found
+     * @returns true if conversion successful
+     */
+    static bool decode(const Node &node, cv::Mat &out);
+};
+}  // namespace YAML
+
 #endif  // WAVE_VISION_COMMON_HPP

wave_vision/src/utils.cpp

@@ -117,4 +117,33 @@ std::vector<cv::Mat> readImageSequence(const std::string &path) {
 
     return image_sequence;
 }
+
 }  // namespace wave
+
+namespace YAML {
+bool convert<cv::Mat>::decode(const Node &node, cv::Mat &out) {
+    int rows = node["rows"].as<int>();
+    int cols = node["cols"].as<int>();
+    const auto &data = node["data"];
+
+    // Check `rows` and `cols` values
+    if (rows <= 0 || cols <= 0) {
+        return false;
+    }
+
+    // Check data node is a list of the right length
+    std::size_t expected_size = rows * cols;
+    if (!data.IsSequence() || data.size() != expected_size) {
+        return false;
+    }
+
+    // Copy it to destination
+    out = cv::Mat{rows, cols, CV_64F};
+    for (int i = 0, index = 0; i < rows; i++) {
+        for (int j = 0; j < cols; j++) {
+            out.at<double>(i, j) = node["data"][index++].as<double>();
+        }
+    }
+    return true;
+}
+}  //  namespace YAML

wave_vision/tests/data/config.yaml

@@ -0,0 +1,6 @@
+test_matrix:
+  rows: 3
+  cols: 4
+  data: [1.1, 2.2, 3.3, 4.4,
+         5.5, 6.6, 7.7, 8.8,
+         9.9, 11.0, 12.1, 13.2]

wave_vision/tests/utils_tests.cpp

@@ -3,8 +3,9 @@
 
 namespace wave {
 
-const std::string IMG_FOLDER_PATH =
-  "tests/data/tracker_test_sequence/frame0057.jpg";
+const auto IMG_FOLDER_PATH = "tests/data/tracker_test_sequence/frame0057.jpg";
+
+const auto TEST_CONFIG_FILE = "tests/data/config.yaml";
 
 TEST(VisionCommon, focal_length) {
     double f = focal_length(60, 640);
@@ -197,4 +198,39 @@ TEST_F(PinholeProjectTest, projectKnownPoint) {
     EXPECT_PRED2(VectorsNear, expected, meas);
 }
 
+TEST(VisionYamlConfig, loadCvMatParam) {
+    wave::ConfigParser parser;
+    cv::Mat cvmat;
+
+    // setup
+    parser.root = YAML::LoadFile(TEST_CONFIG_FILE);
+    parser.config_loaded = true;
+
+    // CV MATRIX
+    wave::ConfigParam<cv::Mat> cvmat_param{"test_matrix", &cvmat};
+    parser.loadParam(cvmat_param);
+
+
+    for (int i = 0, index = 0; i < 3; i++) {
+        for (int j = 0; j < 4; j++) {
+            ASSERT_FLOAT_EQ((index + 1) * 1.1, cvmat.at<double>(i, j));
+            index++;
+        }
+    }
+}
+
+TEST(VisionYamlConfig, cvMatWithConfigParser) {
+    cv::Mat cvmat;
+    wave::ConfigParser parser;
+    parser.addParam("test_matrix", &cvmat);
+    parser.load(TEST_CONFIG_FILE);
+
+    for (int i = 0, index = 0; i < 3; i++) {
+        for (int j = 0; j < 4; j++) {
+            ASSERT_FLOAT_EQ((index + 1) * 1.1, cvmat.at<double>(i, j));
+            index++;
+        }
+    }
+}
+
 }  // namespace wave