Upgrade to OpenCV==4.10.0

CMakeLists.txt

@@ -92,6 +92,5 @@ endif (DOXYGEN_FOUND)
 ##########################################################################
 add_subdirectory(apps/create_charuco_boards)
 add_subdirectory(McCalib)
-find_library(McCalib REQUIRED)
 add_subdirectory(apps/calibrate)
 add_subdirectory(tests)

Dockerfile

@@ -1,9 +1,9 @@
-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 && \
 	apt upgrade -y && apt autoremove -y && \
-	apt install -y build-essential cmake && \
+	apt install -y build-essential cmake wget unzip git && \
 	apt install -y python-is-python3 python3-pip && \
 	rm -rf /var/lib/apt/lists/*
 
@@ -15,7 +15,14 @@ WORKDIR /home
 #------------------------------	#
 #     INSTALL OPENCV 4		    #
 #------------------------------	#
-RUN apt update && apt install -y libopencv-dev && \
+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-4.10.0/modules ../opencv-4.10.0 && \
+	cmake --build . --target install && \
+	cd /home && rm opencv.zip && rm opencv_contrib.zip && \ 
+	rm -rf opencv-4.10.0 && rm -rf opencv_contrib-4.10.0 && rm -rf build && \
 	rm -rf /var/lib/apt/lists/*
 
 #------------------------------	#
@@ -27,36 +34,36 @@ RUN apt update && apt install -y libboost-all-dev && \
 #------------------------------	#
 #     Install Ceres		        #
 #------------------------------	#
-RUN apt update && \
-	apt install -y libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev && \
+RUN apt update && apt install -y libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev && \
 	rm -rf /var/lib/apt/lists/*
-RUN apt update && apt install -y git && \
-	/bin/bash -c "git clone https://ceres-solver.googlesource.com/ceres-solver && \
+RUN git clone --branch 20240722.0 --single-branch https://github.com/abseil/abseil-cpp.git && \
+	cd abseil-cpp && mkdir build && cd build && \
+	cmake .. && cmake --build . --target install && \
+	cd /home && rm -rf abseil-cpp && \
+	rm -rf /var/lib/apt/lists/*
+RUN git clone --branch 2.2.0 --single-branch https://github.com/ceres-solver/ceres-solver.git && \
 	cd ceres-solver && mkdir build && cd build && cmake .. && \
 	make && make install && \
-	cd /home && rm -rf ceres-solver" && \
+	cd /home && rm -rf ceres-solver && \
 	rm -rf /var/lib/apt/lists/*
 
 # Install python requirements for python_utils scripts
 RUN --mount=type=bind,source=python_utils/requirements_prod.txt,target=/tmp/requirements.txt \
-    pip install --requirement /tmp/requirements.txt && \
+    python -m pip install --requirement /tmp/requirements.txt --break-system-packages && \
 	rm -rf /var/lib/apt/lists/*
 
 FROM prod as dev
 
-RUN apt update && apt install -y python3-opencv && \
-	rm -rf /var/lib/apt/lists/*
-
 #------------------------------	#
 #     Doxygen				    #
 #------------------------------	#
 RUN apt update && apt install -y flex bison && \ 
-	/bin/bash -c "git clone https://github.com/doxygen/doxygen.git && \
+	git clone https://github.com/doxygen/doxygen.git && \
 	cd doxygen && mkdir build && cd build &&\
 	cmake -G 'Unix Makefiles' .. && \
 	make && \ 
 	make install && \
-	cd /home && rm -rf doxygen" && \
+	cd /home && rm -rf doxygen && \
 	rm -rf /var/lib/apt/lists/*
 
 #------------------------------	#
@@ -67,5 +74,5 @@ 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 \
-    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

@@ -6,6 +6,8 @@
 #include <opencv2/opencv.hpp>
 #include <stdio.h>
 
+namespace McCalib {
+
 class BoardObs;
 class Frame;
 
@@ -40,7 +42,7 @@ 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;
@@ -49,3 +51,5 @@ class Board final {
   void insertNewBoard(std::shared_ptr<BoardObs> new_board);
   void insertNewFrame(std::shared_ptr<Frame> new_frame);
 };
+
+} //namespace McCalib

McCalib/include/BoardObs.hpp

@@ -7,6 +7,8 @@
 #include <opencv2/opencv.hpp>
 #include <stdio.h>
 
+namespace McCalib {
+
 class Camera;
 class Board;
 
@@ -60,3 +62,5 @@ class BoardObs final {
   cv::Mat getRotVec() const;
   cv::Mat getTransVec() const;
 };
+
+} //namespace McCalib

McCalib/include/Camera.hpp

@@ -11,6 +11,8 @@
 #include "Frame.hpp"
 #include "Object3DObs.hpp"
 
+namespace McCalib {
+
 /**
  * @class Camera
  *
@@ -64,3 +66,5 @@ class Camera final {
   void setIntrinsics(const cv::Mat K, const cv::Mat distortion_vector);
   bool checkBorderToleranceFisheye(std::shared_ptr<BoardObs> board_obs);
 };
+
+} // namespace McCalib

McCalib/include/CameraGroup.hpp

@@ -12,6 +12,8 @@
 #include "Frame.hpp"
 #include "Object3DObs.hpp"
 
+namespace McCalib {
+
 /**
  * @class CameraGroup
  *
@@ -63,3 +65,5 @@ class CameraGroup final {
   void refineCameraGroupAndObjects(const int nb_iterations);
   void refineCameraGroupAndObjectsAndIntrinsics(const int nb_iterations);
 };
+
+} // namespace McCalib

McCalib/include/CameraGroupObs.hpp

@@ -8,6 +8,8 @@
 #include <opencv2/opencv.hpp>
 #include <stdio.h>
 
+namespace McCalib {
+
 class CameraGroup;
 
 /**
@@ -50,3 +52,5 @@ class CameraGroupObs final {
   cv::Mat getObjectTransVec(int object_id);
   void updateObjObsPose();
 };
+
+} // namespace McCalib

McCalib/include/CameraObs.hpp

@@ -8,6 +8,8 @@
 #include <opencv2/opencv.hpp>
 #include <stdio.h>
 
+namespace McCalib {
+
 class Camera;
 
 /**
@@ -37,3 +39,5 @@ class CameraObs final {
   void insertNewBoard(std::shared_ptr<BoardObs> new_board);
   void insertNewObject(std::shared_ptr<Object3DObs> new_object);
 };
+
+} // namespace McCalib

McCalib/include/Frame.hpp

@@ -11,6 +11,8 @@
 #include "CameraObs.hpp"
 #include "Object3DObs.hpp"
 
+namespace McCalib {
+
 /**
  * @class Frame
  *
@@ -57,3 +59,5 @@ class Frame final {
   insertNewCameraGroupObs(std::shared_ptr<CameraGroupObs> new_cam_group_obs,
                           const int camera_group_idx);
 };
+
+} // namespace McCalib

McCalib/include/Graph.hpp

@@ -5,6 +5,7 @@
 #include <boost/graph/dijkstra_shortest_paths.hpp>
 #include <boost/graph/graph_traits.hpp>
 
+
 /**
  * @class Graph
  *
@@ -45,4 +46,4 @@ class Graph final {
 
   std::vector<int> getPath(const std::vector<Vertex> &p_map,
                            const Vertex &source, const Vertex &destination);
-};
+};

McCalib/include/McCalib.hpp

@@ -35,11 +35,10 @@ class Calibration final {
 public:
   // Parameters
   unsigned int nb_camera_, nb_board_;
-  cv::Ptr<cv::aruco::Dictionary> dict_ = cv::aruco::getPredefinedDictionary(
+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
+  cv::aruco::DetectorParameters charuco_params_ = cv::aruco::DetectorParameters(); // parameters for detection
   float min_perc_pts_;
 
   // images path

McCalib/include/Object3D.hpp

@@ -6,6 +6,8 @@
 #include <opencv2/opencv.hpp>
 #include <stdio.h>
 
+namespace McCalib {
+
 class Board;
 class BoardObs;
 class Object3DObs;
@@ -68,3 +70,5 @@ class Object3D final {
   void refineObject(const int nb_iterations);
   void updateObjectPts();
 };
+
+} // namespace McCalib

McCalib/include/Object3DObs.hpp

@@ -8,6 +8,8 @@
 #include <opencv2/opencv.hpp>
 #include <stdio.h>
 
+namespace McCalib {
+
 class Camera;
 class Board;
 class BoardObs;
@@ -82,3 +84,5 @@ class Object3DObs final {
   cv::Mat getRotInGroupVec() const;
   cv::Mat getTransInGroupVec() const;
 };
+
+} // namespace McCalib

McCalib/include/OptimizationCeres.h

@@ -662,104 +662,4 @@ struct ReprojectionError_CameraGroupAndObjectRefAndIntrinsics {
   bool refine_camera;
   bool refine_board;
   int distortion_type;
-};
-
-/*
-template <typename T>
-Eigen::Matrix<T, 3, 3>
-AngleAxisToRotationMatrix(const Eigen::Matrix<T, 3, 1>& rvec) {
-    T angle = rvec.norm();
-    if (angle == T(0)) {
-        return Eigen::Matrix<T, 3, 3>::Identity();
-    }
-
-    Eigen::Matrix<T, 3, 1> axis;
-    axis = rvec.normalized();
-
-    Eigen::Matrix<T, 3, 3> rmat;
-    rmat = Eigen::AngleAxis<T>(angle, axis);
-
-    return rmat;
-}
-
-
-
-// Refine handeye calibration
-struct TransformationError {
-  TransformationError(double r1_x, double r1_y, double r1_z, double t1_x, double
-t1_y, double t1_z, double r2_x, double r2_y, double r2_z, double t2_x, double
-t2_y, double t2_z) : r1_x(r1_x), r1_y(r1_y), r1_z(r1_z), t1_x(t1_x), t1_y(t1_y),
-t1_z(t1_z), r2_x(r2_x), r2_y(r2_y), r2_z(r2_z), t2_x(t2_x), t2_y(t2_y),
-t2_z(t2_z)  {}
-
-  template <typename T>
-  bool operator()(const T *const transform,
-                  T *residuals) const {
-
-    // 1. convert to rotation matrix for relative 1 and 2
-    Eigen::Matrix<double, 3, 1> r1, r2;
-    r1(0,0) = r1_x; r1(1,0) = r1_y; r1(2,0) = r1_z;
-    r2(0,0) = r2_x; r2(1,0) = r2_y; r2(2,0) = r2_z;
-    Eigen::Matrix<double, 3, 3> R1 = AngleAxisToRotationMatrix(r1);
-    Eigen::Matrix<double, 3, 3> R2 = AngleAxisToRotationMatrix(r2);
-    Eigen::Matrix<double, 3,1> t1, t2;
-    t1(0,0) = t1_x; t1(1,0) = t1_y; t1(2,0) = t1_z;
-    t2(0,0) = t2_x; t2(1,0) = t2_y; t2(2,0) = t2_z;
-
-    Eigen::Matrix4d Trans1; // Your Transformation Matrix
-    Trans1.setIdentity();   // Set to Identity to make bottom row of Matrix
-0,0,0,1 Trans1.block<3,3>(0,0) = R1; Trans1.block<3,1>(0,3) = t1;
-    Eigen::Matrix4d Trans2; // Your Transformation Matrix
-    Trans2.setIdentity();   // Set to Identity to make bottom row of Matrix
-0,0,0,1 Trans2.block<3,3>(0,0) = R2; Trans2.block<3,1>(0,3) = t2;
-
-    //2. convert the transform
-    Eigen::Matrix<T, 3, 1> rt;
-    Eigen::Matrix<T, 3,1> tt;
-    rt(0,0) = (transform[0]); rt(1,0) = (transform[1]); rt(2,0) =
-(transform[2]); Eigen::Matrix<T, 3, 3> Rt = AngleAxisToRotationMatrix(rt);
-    tt(0,0) = (transform[3]); tt(1,0) = (transform[4]); tt(2,0) =
-(transform[5]); Eigen::Matrix<T, 4,4> Trans; // Your Transformation Matrix
-    Trans(0,0) = Rt(0,0); Trans(0,1) = Rt(0,1); Trans(0,2) = Rt(0,2); Trans(0,3)
-= tt(0,0); Trans(1,0) = Rt(1,0); Trans(1,1) = Rt(1,1); Trans(1,2) = Rt(1,2);
-Trans(1,3) = tt(1,0); Trans(2,0) = Rt(2,0); Trans(2,1) = Rt(2,1); Trans(2,2) =
-Rt(2,2); Trans(2,3) = tt(2,0);
-
-    Eigen::Matrix4d Error = (Trans - Trans2*Trans*Trans1.inverse());
-    //r1.row(0) << r1_x, r1_y, r1_z;
-    //Map<Vector3f> r1; //(r11);
-
-
-    //AngleAxisToRotationMatrix(axis_angle, matrix);
-    // 2. convert the "transform" ro rotation matrix
-
-    // 2. Compute errors matrix
-    residuals[0] = T(Error(0,0));
-    residuals[1] = T(Error(1,0));
-    residuals[2] = T(Error(2,0));
-    residuals[3] = T(Error(3,0));
-    residuals[4] = T(Error(0,1));
-    residuals[5] = T(Error(1,1));
-    residuals[6] = T(Error(2,1));
-    residuals[7] = T(Error(3,1));
-    residuals[8] = T(Error(0,2));
-    residuals[9] = T(Error(1,2));
-    residuals[10] = T(Error(2,2));
-    residuals[11] = T(Error(3,2));
-
-    return true;
-  }
-
-  static ceres::CostFunction *Create(const double r1_x, const double r1_y, const
-double r1_z, const double t1_x, const double t1_y, const double t1_z, const
-double r2_x, const double r2_y, const double r2_z, const double t2_x, const
-double t2_y, const double t2_z) { return (new
-ceres::AutoDiffCostFunction<TransformationError, 12, 6>( new
-TransformationError(r1_x, r1_y, r1_z, t1_x, t1_y, t1_z, r2_x, r2_y, r2_z, t2_x,
-t2_y, t2_z)));
-  }
-  double r1_x, r1_y, r1_z;
-  double t1_x, t1_y, t1_z;
-  double r2_x, r2_y, r2_z;
-  double t2_x, t2_y, t2_z;
-};*/
+};

McCalib/include/geometrytools.hpp

@@ -6,6 +6,8 @@
 #include <random>
 #include <stdio.h>
 
+namespace McCalib {
+
 cv::Mat RT2Proj(cv::Mat R, cv::Mat T);
 cv::Mat RVecT2Proj(cv::Mat RVec, cv::Mat T);
 cv::Mat RVecT2ProjInt(cv::Mat RVec, cv::Mat T, cv::Mat K);
@@ -56,4 +58,6 @@ cv::Mat convertRotationMatrixToQuaternion(cv::Mat R);
 cv::Mat convertQuaternionToRotationMatrix(const std::array<double, 4> &q);
 cv::Mat getAverageRotation(std::vector<double> &r1, std::vector<double> &r2,
                            std::vector<double> &r3,
-                           const bool use_quaternion_averaging = true);
+                           const bool use_quaternion_averaging = true);
+
+} //namespace McCalib