ros-noetic-cv-bridge.patch

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ef804b91..4ef849c4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,28 +3,8 @@ project(cv_bridge)
 
 find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
 
-if(NOT ANDROID)
-  find_package(PythonLibs)
-
-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS "3.8")
-    # Debian Buster
-    find_package(Boost REQUIRED python37)
-  else()
-    # Ubuntu Focal
-    find_package(Boost REQUIRED python)
-  endif()
-else()
-find_package(Boost REQUIRED)
-endif()
-
-set(_opencv_version 4)
-find_package(OpenCV 4 QUIET)
-if(NOT OpenCV_FOUND)
-  message(STATUS "Did not find OpenCV 4, trying OpenCV 3")
-  set(_opencv_version 3)
-endif()
-
-find_package(OpenCV ${_opencv_version} REQUIRED
+find_package(Boost REQUIRED CONFIG)
+find_package(OpenCV REQUIRED
   COMPONENTS
     opencv_core
     opencv_imgproc
@@ -43,7 +23,6 @@ catkin_package(
 catkin_python_setup()
 
 include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
-link_directories(${Boost_LIBRARY_DIRS})
 
 if(NOT ANDROID)
 add_subdirectory(python)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d1046922c..57ec2a26c 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,8 +1,7 @@
 # add library
-include_directories(./)
 add_library(${PROJECT_NAME} cv_bridge.cpp rgb_colors.cpp)
 add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
 
 install(TARGETS ${PROJECT_NAME}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -12,38 +11,18 @@ install(TARGETS ${PROJECT_NAME}
 
 if(NOT ANDROID)
 # add a Boost Python library
-find_package(PythonInterp REQUIRED)
-find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
-
-#Get the numpy include directory from its python module
-if(NOT PYTHON_NUMPY_INCLUDE_DIR)
-    execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import numpy; print(numpy.get_include())"
-                    RESULT_VARIABLE PYTHON_NUMPY_PROCESS
-                    OUTPUT_VARIABLE PYTHON_NUMPY_INCLUDE_DIR
-                    OUTPUT_STRIP_TRAILING_WHITESPACE)
-
-    if(PYTHON_NUMPY_PROCESS EQUAL 0)
-       file(TO_CMAKE_PATH "${PYTHON_NUMPY_INCLUDE_DIR}" PYTHON_NUMPY_INCLUDE_CMAKE_PATH)
-       set(PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_CMAKE_PATH} CACHE PATH "Numpy include directory")
-    else(PYTHON_NUMPY_PROCESS EQUAL 0)
-        message(SEND_ERROR "Could not determine the NumPy include directory, verify that NumPy was installed correctly.")
-    endif(PYTHON_NUMPY_PROCESS EQUAL 0)
- endif(NOT PYTHON_NUMPY_INCLUDE_DIR)
-
-include_directories(${PYTHON_INCLUDE_PATH} ${Boost_INCLUDE_DIRS} ${PYTHON_NUMPY_INCLUDE_DIR})
-
-if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
-  add_definitions(-DPYTHON3)
-endif()
+find_package(Python COMPONENTS Interpreter Development NumPy)
+add_definitions(-DPYTHON3)
 
 add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp)
+target_include_directories(${PROJECT_NAME}_boost PUBLIC ${Python_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${Python_NumPy_INCLUDE_DIRS})
 target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
                                             ${catkin_LIBRARIES}
                                             ${PROJECT_NAME}
 )
 
 if(NOT APPLE)
-  target_link_libraries(${PROJECT_NAME}_boost ${PYTHON_LIBRARIES})
+  target_link_libraries(${PROJECT_NAME}_boost ${Python_LIBRARIES})
 endif()
 
 set_target_properties(${PROJECT_NAME}_boost PROPERTIES
diff --git a/src/cv_bridge.cpp b/src/cv_bridge.cpp
index 44f23a32..8de258f7 100644
--- a/src/cv_bridge.cpp
+++ b/src/cv_bridge.cpp
@@ -33,7 +33,9 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-#include "boost/endian/conversion.hpp"
+#include <boost/predef/make.h>
+
+#include <boost/endian/conversion.hpp>
 
 #include <map>