Always build OpenCV with CMAKE_BUILD_TYPE=Release (fix #14)

[meyerj]

... to fix RelWithDebInfo builds of derived packages.
There might be several other options to fix the problem, e.g. by patching upstream OpenCV.

I verified that bloom properly exports the patch and reapplies it for each new release (in kinetic) once this pull request would be merged. The same patch should be applied to debian/lunar/opencv3, which has the same version and is probably also affected.

[meyerj]

The binary Debian package build from this branch solved to problem described in #14 for us (in Ubuntu Xenial using ROS kinetic):
https://github.com/meyerj/opencv3-release/releases/download/debian%2Fros-kinetic-opencv3_3.3.1-2_xenial/ros-kinetic-opencv3_3.3.1-2xenial_amd64.deb

Steps to build the package locally (for any supported Ubuntu/Debian version, requires python-bloom and other build dependencies to be installed):

cd /tmp
git clone https://github.com/meyerj/opencv3-release.git
cd opencv3-release
git-bloom-generate -y rosdebian --prefix release/kinetic kinetic -i 2
# This may take a while and eventually bloom will ask you for the version to be released (3.3.1)...

# Then checkout the newly created or updated tag, e.g.
git checkout debian/ros-kinetic-opencv3_3.3.1-2_xenial
# ... and finally build the package with
debuild -us -uc -b

The deb file will be created in the parent folder. The same approach should also work for lunar (untested).

Any chance to have this merged soon and trigger another release for the ROS build farm? I assume the upstream version can stay the same.

[tfoote]

Thanks for the ping @meyerj . @vrabaud I saw you were working on a new release but rolled it back. ros/rosdistro#16773 Will you have a chance to look at this soon? Otherwise I can look at rolling a new version.

[pbeeson]

Bumping to see if we can finally get a working version distributed.

[tfoote]

After the next Kinetic sync I plan to test deploying it with this patch. @vrabaud Since it seems you're busy these days do you have any notes from your previous releases that I could follow since I know you use a slightly non-standard release mechanism?

[tfoote]

Related: ros-perception/vision_opencv#193

[tfoote]

Ok, after several tries I believe that this patched version of opencv3 is now in kinetic 3.3.1-5 ros/rosdistro#17136 There was a bunch of learning and some forced updates required. Right now that version has landed in the testing repo for amd64 builds and should be in the arm builds by the morning.

@pbeeson @meyerj could you try it out to verify it's resolved?

[pbeeson]

After pulling opencv3 and cv-bridge from the Shadow Repository, my code compiles without needing any special CMake magic to work around the previous bug.

Great!

[meyerj]

@pbeeson @meyerj could you try it out to verify it's resolved?

Seems to work for me, too, but I noticed that with 3.3.1-5 the OpenCV libraries are installed to /opt/ros/kinetic/lib/x86_64-linux-gnu now, while with 3.3.1-0 it used to be /opt/ros/kinetic/lib. The former is typically not in the LD_LIBRARY_PATH and I am not sure whether this might break stuff like relocated install spaces.

[tfoote]

Thanks, I think that path is ok as that's a standard using the GNUInstallDirs and is the layout that the system installation uses as well.

And found that the full path for the libraries are correctly embedded in the /opt/ros/kinetic/share/OpenCV-3.3.1-dev/OpenCVModules-release.cmake file.

I checked that the find_package calls all work.

tfoote@snowman:/tmp/test Last: [0] (0s Seconds)
$ cat CMakeLists.txt 
cmake_minimum_required (VERSION 2.6)
project (test_opencv3)

find_package(OpenCV REQUIRED)
message(STATUS "OpenCV VERSION: ${OpenCV_VERSION}")
message(STATUS "OpenCV Components: ${OpenCV_LIB_COMPONENTS}")
message(STATUS "OpenCV Libraries: ${OpenCV_LIBRARIES}")
tfoote@snowman:/tmp/test Last: [0] (0s Seconds)
$ cmake .
-- OpenCV VERSION: 3.3.1
-- OpenCV Components: opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_shape;opencv_stitching;opencv_superres;opencv_video;opencv_videoio;opencv_videostab;opencv_viz;opencv_aruco;opencv_bgsegm;opencv_bioinspired;opencv_ccalib;opencv_cvv;opencv_datasets;opencv_dpm;opencv_face;opencv_fuzzy;opencv_hdf;opencv_img_hash;opencv_line_descriptor;opencv_optflow;opencv_phase_unwrapping;opencv_plot;opencv_reg;opencv_rgbd;opencv_saliency;opencv_stereo;opencv_structured_light;opencv_surface_matching;opencv_text;opencv_tracking;opencv_xfeatures2d;opencv_ximgproc;opencv_xobjdetect;opencv_xphoto
-- OpenCV Libraries: opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_shape;opencv_stitching;opencv_superres;opencv_video;opencv_videoio;opencv_videostab;opencv_viz;opencv_aruco;opencv_bgsegm;opencv_bioinspired;opencv_ccalib;opencv_cvv;opencv_datasets;opencv_dpm;opencv_face;opencv_fuzzy;opencv_hdf;opencv_img_hash;opencv_line_descriptor;opencv_optflow;opencv_phase_unwrapping;opencv_plot;opencv_reg;opencv_rgbd;opencv_saliency;opencv_stereo;opencv_structured_light;opencv_surface_matching;opencv_text;opencv_tracking;opencv_xfeatures2d;opencv_ximgproc;opencv_xobjdetect;opencv_xphoto
-- Configuring done
-- Generating done
-- Build files have been written to: /tmp/test

[meyerj]

Thanks, I think that path is ok as that's a standard using the GNUInstallDirs and is the layout that the system installation uses as well.

Ah, I was not aware of ros/catkin#624.