Add opencv contrib

WORKSPACE

@@ -18,6 +18,19 @@ http_archive(
   integrity = "sha256-CVtgQSRXe8o2wMjNcJrxtlUxiHZY9ZQJ0kde8BkrTPw="
 )
 
+http_archive(
+    name = "bazel_skylib",
+    sha256 = "bc283cdfcd526a52c3201279cda4bc298652efa898b10b4db0837dc51652756f",
+    urls = [
+        "https://mirror.bazel.build/github.com/bazelbuild/bazel-skylib/releases/download/1.7.1/bazel-skylib-1.7.1.tar.gz",
+        "https://github.com/bazelbuild/bazel-skylib/releases/download/1.7.1/bazel-skylib-1.7.1.tar.gz",
+    ],
+)
+
+load("@bazel_skylib//:workspace.bzl", "bazel_skylib_workspace")
+
+bazel_skylib_workspace()
+
 http_archive(
     name = "platforms",
     urls = [
@@ -201,11 +214,11 @@ rules_proto_toolchains()
 
 http_archive(
   name = "com_google_protobuf",
-  urls = ["https://github.com/protocolbuffers/protobuf/releases/download/v25.3/protobuf-25.3.zip"],
-  strip_prefix="protobuf-25.3",
-  sha256 = "3ae7a8f2181be28e5d694617c2b85c6561ba6a16bfcdc9db8e3a95077cab8815",
+  urls = ["https://github.com/protocolbuffers/protobuf/releases/download/v28.3/protobuf-28.3.zip"],
+  strip_prefix="protobuf-28.3",
+  integrity = "sha256-s7TDts/nS3eurpkJ/DwTAwknF/cbwhVNfBlhrNr1/kw=",
   patches = [
-    "@//third_party:protobuf-0002-use-rules-python-headers.patch",
+    "@//third_party:protobuf_0001-use-rules-python-headers.patch",
   ],
   patch_args=["-p1"],
 )
@@ -358,6 +371,15 @@ http_archive(
   sha256 = "db6fb5e7dc76829d738fdbcdba11a810c66ca0a4752e531eaf3d793361e96de8",
 )
 
+http_archive(
+  name = "opencv_contrib",
+  url = "https://github.com/opencv/opencv_contrib/archive/refs/tags/4.7.0.zip",
+  strip_prefix="opencv_contrib-4.7.0",
+  build_file="//third_party:BUILD.opencv_contrib",
+  integrity = "sha256-7wAYE+w5IVWTzp3rOuxwqFJ49XoO2IsY9vYVJlhVQ2w="
+)
+
+
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 http_archive(
@@ -458,3 +480,4 @@ http_archive(
   patches = ["//third_party:opengv_0001-prefix-unsupported-eigen-include-paths.patch"],
   integrity = "sha256-gIK3IvE6rGDpxvN3BA+EPFKPvZ7Zi7Ix33IIcm2RULA="
 )
+

third_party/BUILD.eigen

@@ -37,27 +37,12 @@ cc_library(
     "unsupported/Eigen/Polynomials",
     "unsupported/Eigen/NonLinearOptimization",
     "unsupported/Eigen/NumericalDiff",
+    "unsupported/Eigen/SpecialFunctions",
+    "unsupported/Eigen/CXX11/Tensor",
   ],
-  srcs = glob(["Eigen/src/**/*"]) +
-  [
-    "unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h",
-    "unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h",
-    "unsupported/Eigen/src/Polynomials/Companion.h",
-    "unsupported/Eigen/src/Polynomials/PolynomialUtils.h",
-    "unsupported/Eigen/src/Polynomials/PolynomialSolver.h",
-    "unsupported/Eigen/src/NonLinearOptimization/chkder.h",
-    "unsupported/Eigen/src/NonLinearOptimization/covar.h",
-    "unsupported/Eigen/src/NonLinearOptimization/dogleg.h",
-    "unsupported/Eigen/src/NonLinearOptimization/fdjac1.h",
-    "unsupported/Eigen/src/NonLinearOptimization/lmpar.h",
-    "unsupported/Eigen/src/NonLinearOptimization/qrsolv.h",
-    "unsupported/Eigen/src/NonLinearOptimization/rwupdt.h",
-    "unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h",
-    "unsupported/Eigen/src/NonLinearOptimization/r1updt.h",
-    "unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h",
-    "unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h",
-    "unsupported/Eigen/src/NumericalDiff/NumericalDiff.h",
-  ],
+  srcs = glob([
+    "Eigen/src/**/*",
+    "unsupported/Eigen/**/src/**/*.h"]),
   # Other third party dependencies often pull in Eigen using angle brackets
   # This makes it so that Eigen is available at both "Eigen/Core" and <Eigen/Core>
   includes=[""],

third_party/BUILD.opencv

@@ -13,30 +13,26 @@ SHARED_LIBS = [
   "libopencv_imgproc.so",
   "libopencv_features2d.so",
   "libopencv_flann.so",
+  "libopencv_calib3d.so",
+  "libopencv_video.so",
+  "libopencv_viz.so",
+  "libopencv_rgbd.so",
 ]
 
-cc_library(
-  name = "opencv_deps",
-  linkopts = [
-    "-lstdc++",
-  ]
-)
-
 cmake(
     name = "opencv",
     generate_args = [
         "-GNinja",
-        "-DBUILD_LIST=core,highgui,imgcodecs,imgproc,python3,features2d,flann",
+        "-DBUILD_LIST=core,highgui,imgcodecs,imgproc,python3,features2d,flann,calib3d,video,viz,rgbd",
         "-DCMAKE_CXX_STANDARD=20",
         "-DCMAKE_CXX_FLAGS=-Wno-deprecated-enum-enum-conversion",
-	"-DCMAKE_CXX_STANDARD_LIBRARIES=-lstdc++"
-    ],
-    build_args = [
+	"-DCMAKE_CXX_STANDARD_LIBRARIES=-lstdc++",
+        "-DOPENCV_EXTRA_MODULES_PATH=$$EXT_BUILD_ROOT$$/external/opencv_contrib/modules"
     ],
+    build_data=["@opencv_contrib//:modules"],
     generate_crosstool_file = False,
     lib_source = "@opencv//:all",
     includes = ["opencv4"],
-    deps = [":opencv_deps"],
     out_shared_libs = SHARED_LIBS + 
     [lib + ".407" for lib in SHARED_LIBS],
     visibility = ["//visibility:public"],

third_party/BUILD.opencv_contrib

@@ -0,0 +1,6 @@
+
+filegroup(
+    name = "modules",
+    srcs = glob(["modules/**"]),
+    visibility = ["//visibility:public"],
+)

third_party/protobuf-0002-use-rules-python-headers.patch → third_party/protobuf_0001-use-rules-python-headers.patch

@@ -1,30 +1,30 @@
 diff --git a/python/build_targets.bzl b/python/build_targets.bzl
-index fff32b4a5..08e0212cf 100644
+index ee765ab4c..28e43c8b5 100644
 --- a/python/build_targets.bzl
 +++ b/python/build_targets.bzl
-@@ -84,7 +84,7 @@ def build_targets(name):
+@@ -87,7 +87,7 @@ def build_targets(name):
          ],
          deps = select({
              "//conditions:default": [],
--            ":use_fast_cpp_protos": ["//external:python_headers"],
+-            ":use_fast_cpp_protos": ["@system_python//:python_headers"],
 +            ":use_fast_cpp_protos": ["@rules_python//python/cc:current_py_cc_headers"],
          }),
      )
 
-@@ -123,7 +123,7 @@ def build_targets(name):
-             "//src/google/protobuf:descriptor_legacy",
+@@ -136,7 +136,7 @@ def build_targets(name):
+             "@com_google_absl//absl/strings",
          ] + select({
              "//conditions:default": [],
--            ":use_fast_cpp_protos": ["//external:python_headers"],
+-            ":use_fast_cpp_protos": ["@system_python//:python_headers"],
 +            ":use_fast_cpp_protos": ["@rules_python//python/cc:current_py_cc_headers"],
          }),
      )
 
-@@ -386,7 +386,7 @@ def build_targets(name):
+@@ -436,7 +436,7 @@ def build_targets(name):
          hdrs = ["google/protobuf/proto_api.h"],
          visibility = ["//visibility:public"],
          deps = [
--            "//external:python_headers",
+-            "@system_python//:python_headers",
 +            "@rules_python//python/cc:current_py_cc_headers",
          ],
      )

toolchain/gcc_toolchain_config.bzl

@@ -1,43 +1,10 @@
 
 load("@bazel_tools//tools/build_defs/cc:action_names.bzl", "ACTION_NAMES")
-load("@bazel_tools//tools/cpp:cc_toolchain_config_lib.bzl", "feature", "flag_group", "flag_set", "tool_path")
+load("@bazel_tools//tools/cpp:cc_toolchain_config_lib.bzl",
+    "action_config", "feature", "flag_group", "flag_set", "tool_path", "tool", "variable_with_value")
 
 def _impl(ctx):
     gcc_version = ctx.attr.gcc_version
-    tool_paths = [
-      tool_path(
-        name = "gcc",
-        path = "/usr/bin/gcc-{}".format(gcc_version),
-      ),
-      tool_path(
-        name = "ar",
-        path = "/usr/bin/ar",
-      ),
-      tool_path(
-        name = "ld",
-        path = "/usr/bin/ld.gold",
-      ),
-      tool_path(
-        name = "cpp",
-        path = "/usr/bin/g++-{}".format(gcc_version),
-      ),
-      tool_path(
-        name = "gcov",
-        path = "/bin/false",
-      ),
-      tool_path(
-        name = "nm",
-        path = "/bin/false",
-      ),
-      tool_path(
-        name = "objdump",
-        path = "/bin/false",
-      ),
-      tool_path(
-        name = "strip",
-        path = "/bin/false",
-      ),
-    ]
     all_link_actions = [
         ACTION_NAMES.cpp_link_executable,
         ACTION_NAMES.cpp_link_dynamic_library,
@@ -47,6 +14,52 @@ def _impl(ctx):
         ACTION_NAMES.c_compile,
         ACTION_NAMES.cpp_compile,
     ]
+    action_configs = [
+      action_config(
+        action_name = ACTION_NAMES.preprocess_assemble,
+        tools = [tool(path="/usr/bin/gcc-{}".format(gcc_version))],
+      ),
+      action_config(
+        action_name = ACTION_NAMES.assemble,
+        tools = [tool(path="/usr/bin/gcc-{}".format(gcc_version))],
+      ),
+      action_config(
+        action_name = ACTION_NAMES.c_compile,
+        tools = [tool(path="/usr/bin/gcc-{}".format(gcc_version))],
+        implies = [
+          "c_compile_flags"
+        ],
+      ),
+      action_config(
+        action_name = ACTION_NAMES.cpp_compile,
+        tools = [tool(path="/usr/bin/g++-{}".format(gcc_version))],
+        # implies = [
+        #   "cpp_compile_flags"
+        # ],
+      ),
+      action_config(
+        action_name = ACTION_NAMES.cpp_link_executable,
+        tools = [tool(path="/usr/bin/g++-{}".format(gcc_version))],
+        # implies = [
+        #   "default_linker_flags"
+        # ],
+      ),
+      action_config(
+        action_name = ACTION_NAMES.cpp_link_dynamic_library,
+        tools = [tool(path="/usr/bin/g++-{}".format(gcc_version))],
+        # implies = [
+        #   "default_linker_flags"
+        # ],
+      ),
+      action_config(
+        action_name = ACTION_NAMES.cpp_link_static_library,
+        tools = [tool(path="/usr/bin/ar")],
+        implies = [
+          "archiver_flags"
+        ],
+      ),
+    ]
+
     features = [
       feature(
         name = "default_linker_flags",
@@ -154,11 +167,65 @@ def _impl(ctx):
             )
           ]
       ),
+      feature(
+          name = "archiver_flags",
+          flag_sets = [
+            flag_set(
+                actions = [ACTION_NAMES.cpp_link_static_library],
+                flag_groups = [
+                    flag_group(
+                        flags = [
+                            "rcsD",
+                            "%{output_execpath}",
+                        ],
+                        expand_if_available = "output_execpath",
+                    ),
+                ],
+            ),
+            flag_set(
+                actions = [ACTION_NAMES.cpp_link_static_library],
+                flag_groups = [
+                    flag_group(
+                        iterate_over = "libraries_to_link",
+                        flag_groups = [
+                            flag_group(
+                                flags = ["%{libraries_to_link.name}"],
+                                expand_if_equal = variable_with_value(
+                                    name = "libraries_to_link.type",
+                                    value = "object_file",
+                                ),
+                            ),
+                            flag_group(
+                                flags = ["%{libraries_to_link.object_files}"],
+                                iterate_over = "libraries_to_link.object_files",
+                                expand_if_equal = variable_with_value(
+                                    name = "libraries_to_link.type",
+                                    value = "object_file_group",
+                                ),
+                            ),
+                        ],
+                        expand_if_available = "libraries_to_link",
+                    ),
+                ],
+            ),
+            flag_set(
+                actions = [ACTION_NAMES.cpp_link_static_library],
+                flag_groups = [
+                    flag_group(
+                        flags = ["%{user_archiver_flags}"],
+                        iterate_over = "user_archiver_flags",
+                        expand_if_available = "user_archiver_flags",
+                    ),
+                ],
+            ),
+        ],
+      )
     ]
 
     return cc_common.create_cc_toolchain_config_info(
       ctx=ctx,
       features = features,
+      action_configs = action_configs,
       cxx_builtin_include_directories = [
         "/usr/include",
         "/usr/include/c++/{}".format(gcc_version),
@@ -172,7 +239,6 @@ def _impl(ctx):
       compiler="gcc",
       abi_version="unknown",
       abi_libc_version="unknown",
-      tool_paths = tool_paths
     )
 
 gcc_toolchain_config = rule(