Upgrade to OpenCV==4.10.0

[BAILOOL]

Closes #66

[github-actions]

LCOV of commit 0f7db5c during CI #172

Summary coverage rate:
  lines......: 83.0% (2938 of 3538 lines)
  functions..: 90.5% (248 of 274 functions)
  branches...: no data found

Files changed coverage rate: n/a

[rameau-fr]

Great! Is the DockerHub updated too?

It's not ready yet due to failing unit tests related to handeye calibration

[BAILOOL]

@rameau-fr with OpenCV=4.10.0 we have some unit tests failing. It's probably related to hand-eye calibration not running.

The change to OpenCV was introduced in opencv/opencv#24897 where a part of the change was hard-coded filtering (with no possibility to change the thresholds).

if (Pgij_norm < 0.3 || Pcij_norm < 0.3 || Pgij_norm > 1.7 || Pcij_norm > 1.7) {
    continue;
}

[shreyas23]

Are there any expected quality upgrades from this PR?

[BAILOOL]

@shreyas23 TSAI hand-eye calibration method seems to be improved in the latest OpenCV. However, after the upgrade, our unit tests, where the accuracy is checked against ground truth (synthetic sequences), are failing.

Potentially, there is a bug in our code (#77, #56) and we will try to investigate it further when we have time.

Meanwhile, if you know of bugs or improvements to the codebase, feel free to list them. PR contributions are also welcomed.

[BAILOOL]

Seems that backwards compatibility can be achieved by setting board.setLegacyPattern(true); as mentioned in the issue opencv/opencv#23152

[BAILOOL]

Unit tests still do not pass. Potentially, there is more divergence between OpenCV versions despite setting board.setLegacyPattern(true) opencv/opencv#26126