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Setup with OpenCV 3.4.5 Debian package #5

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Setup with OpenCV 3.4.5 Debian package #5

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4e4ca46
Enable OpenCV deb install
RoboticsYY Jun 8, 2020
8045511
Correct target detection test reference
RoboticsYY Jun 8, 2020
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1 change: 1 addition & 0 deletions .travis.yml
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Expand Up @@ -19,6 +19,7 @@ env:
matrix:
- TEST=catkin_lint
- ROS_DISTRO=melodic
BEFORE_SCRIPT="source moveit_calibration/.travis/before_script.sh"

before_script:
- git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
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5 changes: 5 additions & 0 deletions .travis/before_script.sh
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@@ -0,0 +1,5 @@
#!/bin/bash

git clone https://github.com/RoboticsYY/opencv_deb_install.git

find ./opencv_deb_install -name "OpenCV-3.4.5-x86_64-*.deb" | xargs sudo dpkg -i
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This is clearly not a reasonable long-term solution. What's the plan there?

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I agree that this is not a perfect long-term solution, but to facilitate others to copy and test this tool. I have tested OpenCV 3.x and 4.1. Only 3.2 is not working well with Aruco marker detection. Actually we always avoid this version in any of our vision projects. Usually, I compile OpenCV from source. But this most likely will make CI timeout. I'm not sure if it's possible for Ubuntu to make a new version of OpenCV release with 18.04 or how far it would impact. One option in my head is to create PPA for this.

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Adding the PPA, if no compatible one already exists, would be a good simplification for users and should be preferred for CI over your custom binary git repo. Can you set this up and adapt this request?

The core issue is that the intuitive and default way to build this package (download and compile) apparently silently breaks tag detection and thus this package because it will use the standard system version.
So it's not enough to add a custom opencv version to the CI build, but the build should actually fail if you try to build with the broken version. You could add some error message referencing good versions of opencv and the ppa.

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I will create a PPA for the non-default version of OpenCV for this.

Great idea to add some error message or compilation limitation! I think I will add some check and message print in cmake files.

4 changes: 2 additions & 2 deletions moveit_calibration_plugins/handeye_calibration_target/test/handeye_target_test.cpp
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Expand Up @@ -129,8 +129,8 @@ TEST_F(MoveItHandEyeTargetTester, DetectArucoMarkerPose)
camera_transform = target_->getTransformStamped(camera_info->header.frame_id);
Eigen::Affine3d ret = tf2::transformToEigen(camera_transform);
std::cout << "Translation:\n" << ret.translation() << "\nRotation:\n" << ret.rotation().eulerAngles(0, 1, 2) << std::endl;
Eigen::Vector3d t(0.412949, -0.198895, 11.1761);
Eigen::Vector3d r(0.324172, -2.03144, 2.90114);
Eigen::Vector3d t(0.0148984, 0.0123107, 0.58609);
Eigen::Vector3d r(2.12328, -1.50481, -1.29729);
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ASSERT_TRUE(ret.translation().isApprox(t, 0.01));
ASSERT_TRUE(ret.rotation().eulerAngles(0, 1, 2).isApprox(r, 0.01));
}
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