[jsk_recognition_utils] add OpenCV to catkin_depends

[mqcmd196]

The current CMake implementation of jsk_recognition_utils does not propagate the need for OpenCV downstream, so I fixed it.

How to check

Create the package like

package.xml

<?xml version="1.0"?>
<package format="2">
  <name>test_utils</name>
  <version>0.0.0</version>
  <description>The test_utils package</description>
  <maintainer email="[email protected]">obinata</maintainer>
  <license>TODO</license>
  <depend>jsk_recognition_utils</depend>
  <buildtool_depend>catkin</buildtool_depend>
</package>

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(test_utils)

find_package(catkin REQUIRED COMPONENTS jsk_recognition_utils)

catkin_package()

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

link_directories(
  ${catkin_LIBRARY_DIRS}
)

message(STATUS "catkin_INCLUDE_DIRS: ${catkin_INCLUDE_DIRS}")

add_library(${PROJECT_NAME}
  src/test_utils.cpp
)

include/test_utils/test_utils.h

#include <jsk_recognition_utils/pcl_conversion_util.h>

src/test_utils.cpp

#include <test_utils/test_utils.h>

Then compare the cmake outputs before this PR and after this PR

before

-- catkin_INCLUDE_DIRS: /home/obinata/ros/hsr_ws/devel/.private/jsk_recognition_utils/include;/home/obinata/ros/hsr_ws/devel/.private/jsk_recognition_msgs/include;/home/obinata/ros/hsr_ws/src/jsk_recognition/jsk_recognition_utils/include;/opt/ros/noetic/include;/opt/ros/noetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp;/usr/include;/usr/include/eigen3;/usr/include/pcl-1.10;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu

and fails to compile with

In file included from /home/obinata/ros/hsr_ws/src/test_utils/include/test_utils/test_utils.h:4,
                 from /home/obinata/ros/hsr_ws/src/test_utils/src/test_utils.cpp:1:
/home/obinata/ros/hsr_ws/src/jsk_recognition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_conversion_util.h:56:10: fatal error: opencv2/opencv.hpp: そのようなファイルやディレクトリはありません
   56 | #include <opencv2/opencv.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~
compilation terminated.

after

-- catkin_INCLUDE_DIRS: /home/obinata/ros/hsr_ws/devel/.private/jsk_recognition_utils/include;/home/obinata/ros/hsr_ws/devel/.private/jsk_recognition_msgs/include;/home/obinata/ros/hsr_ws/src/jsk_recognition/jsk_recognition_utils/include;/opt/ros/noetic/include;/opt/ros/noetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp;/usr/include/opencv4;/usr/include/pcl-1.10;/usr/include/eigen3;/usr/include;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu;/usr/include/ni;/usr/include/openni2

and successfully finds OpenCV

[pazeshun]

I don't understand fully, but maybe you should just add cv_bridge dependency to find_package(catkin REQUIRED COMPONENTS of CMakeLists.txt and package.xml.
cf. jsk-ros-pkg/jsk_visualization#646, jsk-ros-pkg/jsk_3rdparty#179

[k-okada]

humm,

$ rospack depends-why --target=cv_bridge jsk_recognition_utils
Dependency chains from jsk_recognition_utils to cv_bridge:
* jsk_recognition_utils -> image_view -> cv_bridge 

so, we already have image_view in jsk_recognition_utils/package.xml, but maybe it is not propagate to catkin_INCLUDE_DIRS.

Before applying this patch, catkin_INCLUDE_DIRS already contains /usr/include/pcl-1.10, thanks to CATKIN_DEPENDS pcl_ros, so maybe find_package(PCL REQUIRED) and PCL_LIBRARIES could be removed. If this is true, we might just remove find_package(OpenCV) and add cv_bridge to package.xml and find_package(catkin.

How do you think? Too many changes?

[mqcmd196]

I don't understand fully, but maybe you should just add cv_bridge dependency to find_package(catkin REQUIRED COMPONENTS of CMakeLists.txt and package.xml.
cf. jsk-ros-pkg/jsk_visualization#646, jsk-ros-pkg/jsk_3rdparty#179

Thank you for your info. At first, I thought that tThishis method was not very clean, but I agreed that it was better to use it because different versions of OpenCV handle it differently in CMake, and cv_bridge did it well.

so, we already have image_view in jsk_recognition_utils/package.xml, but maybe it is not propagate to catkin_INCLUDE_DIRS.

Yes, it is because cv_bridge is not written in CATKIN_DEPENDS in image_view https://github.com/ros-perception/image_pipeline/blob/69488e6e455d97c2deaf924234aa5f87b83cfda8/image_view/CMakeLists.txt#L7

Before applying this patch, catkin_INCLUDE_DIRS already contains /usr/include/pcl-1.10, thanks to CATKIN_DEPENDS pcl_ros, so maybe find_package(PCL REQUIRED) and PCL_LIBRARIES could be removed. If this is true, we might just remove find_package(OpenCV) and add cv_bridge to package.xml and find_package(catkin.

Yes, so I'll handle this.

find_package(PCL REQUIRED) and PCL_LIBRARIES could be removed

This is the refactor process so I'll create another PR

[mqcmd196]

@k-okada Kindly ping. I think this PR could be merged

[knorth55]

i had the same issue and I opened #2842.
I confirmed both #2842 and this PR solved my issue, JFYI.