bdaiinstitute / spot_wrapper / 10779491837

44%

Build Type

push

github

Committed by web-flow

Commit Message

Calibration fixes: Supporting OpenCV prior to and after breaking changes in 4.7 (#138)

In OpenCV 4.7.0, charuco was moved from the contrib part of opencv to the core part of opencv (https://github.com/opencv/opencv/pull/22986/files#diff-09508dfcbc7e23705f004f7d15e6f40e9). Previously, the code assumed an OpenCV version prior to 4.7.0.

This adds an explicit check for the opencv version prior to prior to many charuco operations, so that the correct charuco method can be called for opencv>=4.7 despite the breaking change in 4.7

More information about OpenCV changes:
https://github.com/opencv/opencv/issues/26126

This also adds an explicit dependency on opencv. Previously, this dependency was likely implicitly included if you use the spot_ros2 package (due to dependency on things like cv bridge), but this not cover the use case of using spot_wrapper completely independently of ROS2.

It is better to check OpenCV version, and adjust behavior accordingly, then just depending on opencv-contrib-python, as
depending on contrib can break existing versions of OpenCV on your system when the requirements.txt is installed

Testing:

Tested on physical robot. For code changes with OpenCV, verified the results in prior to 4.7 and after:
https://github.com/opencv/opencv/issues/26126

Run Details

0 of 165 new or added lines in 4 files covered. (0.0%)

9 existing lines in 3 files now uncovered.

1867 of 4508 relevant lines covered (41.42%)

1.24 hits per line