Add support for OpenCV > v4.6.0

.github/workflows/main.yml

@@ -17,8 +17,8 @@ on:
   workflow_dispatch:
 
 env:
-  MC_CALIB_PROD_DOCKER_IMG: bailool/mc-calib-prod:opencv420
-  MC_CALIB_DEV_DOCKER_IMG: bailool/mc-calib-dev:opencv420
+  MC_CALIB_PROD_DOCKER_IMG: bailool/mc-calib-prod:opencv4100
+  MC_CALIB_DEV_DOCKER_IMG: bailool/mc-calib-dev:opencv4100
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
@@ -70,6 +70,34 @@ jobs:
             run-clang-tidy
 
 
+  test-charuco-boards-generation:
+    runs-on: ubuntu-latest
+    needs:
+      - clang-format-lint
+      - cppcheck
+      - clang-tidy
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Run charuco boards generation app
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{env.MC_CALIB_PROD_DOCKER_IMG}}
+          options: -v ${{ github.workspace }}:/home/MC-Calib:rw
+          run: |
+            mkdir MC-Calib/build && cd MC-Calib/build
+            cmake -DCMAKE_BUILD_TYPE=Release ..
+            make -j4
+            ./apps/create_charuco_boards/generate_charuco ../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml
+
+      - name: Archive results artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: charuco_boards
+          path: ${{ github.workspace }}/build/charuco_boards
+
+
   unit-tests-with-sanitizers:
     if: ${{ false }}  # TODO: disable for now until understand how to suppress leaks from external libraries like OpenCV
     runs-on: ubuntu-latest
@@ -146,7 +174,7 @@ jobs:
               ./apps/calibrate/calibrate ../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml
 
 
-  unit-tests-in-release-mode:
+  unit-tests-in-release-mode-opencv4100:
     runs-on: ubuntu-latest
     needs:
       - clang-format-lint
@@ -208,6 +236,67 @@ jobs:
           name: results_blender_sequences
           path: ${{ github.workspace }}/data/Blender_Images/Results_Blender_Sequences
 
+  unit-tests-in-release-mode-opencv455:
+    runs-on: ubuntu-latest
+    needs:
+      - clang-format-lint
+      - cppcheck
+      - clang-tidy
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Checkout MC-Calib-data
+        uses: actions/checkout@v4
+        with:
+          repository: BAILOOL/MC-Calib-data
+          path: ${{ github.workspace }}/data
+          lfs: 'true'
+
+      - name: Unzip MC-Calib-data
+        run: tar xf ${{ github.workspace }}/data/Blender_Images.tar.gz -C ${{ github.workspace }}/data
+
+      - name: Run tests
+        uses: addnab/docker-run-action@v3
+        with:
+          image: bailool/mc-calib-prod:opencv455
+          options: -v ${{ github.workspace }}:/home/MC-Calib:rw
+          run: |
+            mkdir MC-Calib/build && cd MC-Calib/build
+            cmake -DCMAKE_BUILD_TYPE=Release ..
+            make -j4
+            ./tests/boost_tests_run
+
+  unit-tests-in-release-mode-opencv420:
+    runs-on: ubuntu-latest
+    needs:
+      - clang-format-lint
+      - cppcheck
+      - clang-tidy
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Checkout MC-Calib-data
+        uses: actions/checkout@v4
+        with:
+          repository: BAILOOL/MC-Calib-data
+          path: ${{ github.workspace }}/data
+          lfs: 'true'
+
+      - name: Unzip MC-Calib-data
+        run: tar xf ${{ github.workspace }}/data/Blender_Images.tar.gz -C ${{ github.workspace }}/data
+
+      - name: Run tests
+        uses: addnab/docker-run-action@v3
+        with:
+          image: bailool/mc-calib-prod:opencv420
+          options: -v ${{ github.workspace }}:/home/MC-Calib:rw
+          run: |
+            mkdir MC-Calib/build && cd MC-Calib/build
+            cmake -DCMAKE_BUILD_TYPE=Release ..
+            make -j4
+            ./tests/boost_tests_run
 
   code-coverage-testing:
     runs-on: ubuntu-latest
@@ -262,7 +351,7 @@ jobs:
   python-utils-linters:
     runs-on: ubuntu-latest
     needs:
-      - unit-tests-in-release-mode
+      - unit-tests-in-release-mode-opencv4100
     steps:
       - name: Checkout
         uses: actions/checkout@v2
@@ -282,7 +371,7 @@ jobs:
     runs-on: ubuntu-latest
     needs:
       - python-utils-linters
-      - unit-tests-in-release-mode
+      - unit-tests-in-release-mode-opencv4100
     steps:
       - name: Checkout
         uses: actions/checkout@v2

CMakeLists.txt

@@ -34,7 +34,8 @@ if(ENABLE_COVERAGE)
   # add coverage target
   add_custom_target(coverage
     # gather data
-    COMMAND ${LCOV} --directory . --capture --output-file coverage.info --exclude '/usr/*'
+    COMMAND ${LCOV} --directory . --capture --output-file coverage.info --exclude '/usr/*' 
+      --ignore-errors mismatch,negative
     # generate report
     COMMAND ${GENHTML} --demangle-cpp -o coverage coverage.info
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
@@ -80,7 +81,7 @@ endif (DOXYGEN_FOUND)
 
 
 ##########################################################################
-add_subdirectory(apps/create_charuco_boards)
 add_subdirectory(McCalib)
+add_subdirectory(apps/create_charuco_boards)
 add_subdirectory(apps/calibrate)
 add_subdirectory(tests)

Dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:20.04 as prod
+FROM ubuntu:24.04 as prod
 
 ENV DEBIAN_FRONTEND noninteractive
 RUN apt update && apt install -y --no-install-recommends apt-utils && \
@@ -15,14 +15,14 @@ WORKDIR /home
 #------------------------------	#
 #     INSTALL OPENCV 4		    #
 #------------------------------	#
-RUN wget -O opencv.zip https://github.com/opencv/opencv/archive/4.2.0.zip && \
-	wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.2.0.zip && \
+RUN wget -O opencv.zip https://github.com/opencv/opencv/archive/4.10.0.zip && \
+	wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.10.0.zip && \
 	unzip opencv.zip && unzip opencv_contrib.zip && \
 	mkdir -p build && cd build && \
-	cmake -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.2.0/modules ../opencv-4.2.0 && \
+	cmake -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.10.0/modules ../opencv-4.10.0 && \
 	cmake --build . --target install -- -j4 && \
 	cd /home && rm opencv.zip && rm opencv_contrib.zip && \ 
-	rm -rf opencv-4.2.0 && rm -rf opencv_contrib-4.2.0 && rm -rf build && \
+	rm -rf opencv-4.10.0 && rm -rf opencv_contrib-4.10.0 && rm -rf build && \
 	rm -rf /var/lib/apt/lists/*
 
 #------------------------------	#
@@ -49,8 +49,8 @@ RUN git clone --branch 2.2.0 --single-branch https://github.com/ceres-solver/cer
 
 # Install python requirements for python_utils scripts
 RUN --mount=type=bind,source=python_utils/requirements_prod.txt,target=/tmp/requirements.txt \
-    apt update && apt install -y libgl1 && \
-    python -m pip install --requirement /tmp/requirements.txt && \
+	apt update && apt install -y libgl1 libglib2.0-0 && \    
+	python -m pip install --requirement /tmp/requirements.txt --break-system-packages && \
 	rm -rf /var/lib/apt/lists/*
 
 FROM prod as dev
@@ -75,5 +75,5 @@ RUN apt update && apt install -y cppcheck clang-tidy valgrind lcov && \
 
 # Install python requirements for python_utils scripts
 RUN --mount=type=bind,source=python_utils/requirements_dev.txt,target=/tmp/requirements.txt \
-    python -m pip install --requirement /tmp/requirements.txt && \
+    python -m pip install --requirement /tmp/requirements.txt --break-system-packages && \
 	rm -rf /var/lib/apt/lists/*

McCalib/include/Board.hpp

@@ -44,7 +44,7 @@ class Board final {
   std::map<int, std::weak_ptr<Frame>> frames_;
 
   // Charuco board
-  cv::Ptr<cv::aruco::CharucoBoard> charuco_board_; // vector of charuco boards
+  cv::Ptr<cv::aruco::CharucoBoard> charuco_board_;
 
   // Functions
   Board() = delete;

McCalib/include/McCalib.hpp

@@ -36,11 +36,22 @@ class Calibration final {
 public:
   // Parameters
   unsigned int nb_camera_, nb_board_;
+
+#if (defined(CV_VERSION_MAJOR) && CV_VERSION_MAJOR <= 4 &&                     \
+     defined(CV_VERSION_MINOR) && CV_VERSION_MINOR < 7)
   cv::Ptr<cv::aruco::Dictionary> dict_ = cv::aruco::getPredefinedDictionary(
       cv::aruco::DICT_6X6_1000); // load the dictionary that correspond to the
                                  // charuco board
   cv::Ptr<cv::aruco::DetectorParameters> charuco_params_ =
       cv::aruco::DetectorParameters::create(); // parameters for detection
+#else
+  cv::aruco::Dictionary dict_ = cv::aruco::getPredefinedDictionary(
+      cv::aruco::DICT_6X6_1000); // load the dictionary that correspond to the
+                                 // charuco board
+  cv::aruco::DetectorParameters charuco_params_ =
+      cv::aruco::DetectorParameters(); // parameters for detection
+#endif
+
   float min_perc_pts_;
 
   // images path

McCalib/include/point_refinement.h

@@ -1,13 +1,15 @@
-#include "opencv2/core/core.hpp"
+#include <cmath>
 #include <iostream>
-#include <opencv2/opencv.hpp>
 #include <stdio.h>
 
+#include "opencv2/core/core.hpp"
+#include <opencv2/opencv.hpp>
+
 namespace McCalib {
 
 /****** ******/
 
-float step_threshold = 0.001;
+double step_threshold = 0.001;
 
 /**
  * @struct SaddlePoint
@@ -36,7 +38,7 @@ void initSaddlePointRefinement(const int half_kernel_size,
   int cnt = 0;
   for (int y = -half_kernel_size; y <= half_kernel_size; y++)
     for (int x = -half_kernel_size; x <= half_kernel_size; x++) {
-      *w = maxVal - sqrt(x * x + y * y);
+      *w = maxVal - std::sqrt(x * x + y * y);
       if (*w > 0)
         cnt++;
       else
@@ -138,22 +140,23 @@ void saddleSubpixelRefinement(const cv::Mat &smooth_input,
                     pt.det; //       k3 * k1 - 2 * k5 * k2
         pt.x += dx;
         pt.y += dy;
-        dx = fabs(dx);
-        dy = fabs(dy);
+        dx = std::fabs(dx);
+        dy = std::fabs(dy);
         // iterations++;
 
         if (it == max_iterations ||
             (step_threshold > dx && step_threshold > dy)) {
           // converged
           double k4mk5 = r[1] - r[0];
-          pt.s = sqrt(r[2] * r[2] + k4mk5 * k4mk5);
-          pt.a1 = atan2(-r[2], k4mk5) / 2.0;
-          pt.a2 = acos((r[1] + r[0]) / pt.s) / 2.0;
+          pt.s = std::sqrt(r[2] * r[2] + k4mk5 * k4mk5);
+          pt.a1 = std::atan2(-r[2], k4mk5) / 2.0;
+          pt.a2 = std::acos((r[1] + r[0]) / pt.s) / 2.0;
           break;
         } else {
           // check for divergence
-          if (pt.det > 0 || fabs(pt.x - initial[idx].x) > window_half_size ||
-              fabs(pt.y - initial[idx].y) > window_half_size) {
+          if (pt.det > 0 ||
+              std::fabs(pt.x - initial[idx].x) > window_half_size ||
+              std::fabs(pt.y - initial[idx].y) > window_half_size) {
             pt.x = pt.y = std::numeric_limits<double>::infinity();
             // diverged++;
             break;

McCalib/include/utilities.hpp

@@ -1,12 +1,42 @@
 
 #include <filesystem>
+#include <map>
 #include <string>
 #include <vector>
 
+#include <opencv2/aruco/charuco.hpp>
+#include <opencv2/opencv.hpp>
+
 namespace McCalib {
 
 std::filesystem::path convertStrToPath(const std::string &item_name);
 std::vector<std::filesystem::path>
 convertVecStrToVecPath(const std::vector<std::string> &input);
 
+#if (defined(CV_VERSION_MAJOR) && CV_VERSION_MAJOR <= 4 &&                     \
+     defined(CV_VERSION_MINOR) && CV_VERSION_MINOR < 7)
+
+std::map<int, cv::Ptr<cv::aruco::CharucoBoard>>
+createCharucoBoards(const unsigned int num_board,
+                    const std::vector<int> &number_x_square_per_board,
+                    const std::vector<int> &number_y_square_per_board,
+                    const float length_square, const float length_marker,
+                    const cv::Ptr<cv::aruco::Dictionary> dict);
+#else
+std::map<int, cv::Ptr<cv::aruco::CharucoBoard>>
+createCharucoBoards(const unsigned int num_board,
+                    const std::vector<int> &number_x_square_per_board,
+                    const std::vector<int> &number_y_square_per_board,
+                    const float length_square, const float length_marker,
+                    const cv::aruco::Dictionary &dict);
+#endif
+
+std::vector<cv::Mat>
+createCharucoBoardsImages(const unsigned int num_board,
+                          const std::vector<int> &number_x_square_per_board,
+                          const std::vector<int> &number_y_square_per_board,
+                          const float length_square, const float length_marker,
+                          const std::vector<int> &resolution_x_per_board,
+                          const std::vector<int> &resolution_y_per_board);
+
 } // namespace McCalib

McCalib/src/Camera.cpp

@@ -1,8 +1,11 @@
-#include "opencv2/core/core.hpp"
+#include <algorithm>
 #include <iostream>
+#include <random>
+#include <stdio.h>
+
+#include "opencv2/core/core.hpp"
 #include <opencv2/aruco/charuco.hpp>
 #include <opencv2/opencv.hpp>
-#include <stdio.h>
 
 #include "Camera.hpp"
 #include "OptimizationCeres.h"
@@ -169,7 +172,9 @@ void Camera::initializeCalibration() {
   std::srand(unsigned(std::time(0)));
   std::vector<int> shuffled_board_ind(indbv.size());
   std::iota(shuffled_board_ind.begin(), shuffled_board_ind.end(), 0);
-  random_shuffle(shuffled_board_ind.begin(), shuffled_board_ind.end());
+  std::random_device rd;
+  std::mt19937 g(rd());
+  std::shuffle(shuffled_board_ind.begin(), shuffled_board_ind.end(), g);
 
   // nb of boards used for the initial estimation of intrinsic parameters
   //(at least 50 boards for perspective)