Upgrade to opencv==4.11.0 (#97)

Author: BAILOOL

.github/workflows/main.yml

@@ -17,8 +17,8 @@ on:
   workflow_dispatch:
 
 env:
-  MC_CALIB_PROD_DOCKER_IMG: bailool/mc-calib-prod:opencv4100
-  MC_CALIB_DEV_DOCKER_IMG: bailool/mc-calib-dev:opencv4100
+  MC_CALIB_PROD_DOCKER_IMG: bailool/mc-calib-prod:opencv4110
+  MC_CALIB_DEV_DOCKER_IMG: bailool/mc-calib-dev:opencv4110
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
@@ -174,7 +174,7 @@ jobs:
               ./apps/calibrate/calibrate ../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml
 
 
-  unit-tests-in-release-mode-opencv4100:
+  unit-tests-in-release-mode-opencv4110:
     runs-on: ubuntu-latest
     needs:
       - clang-format-lint
@@ -351,7 +351,7 @@ jobs:
   python-utils-linters:
     runs-on: ubuntu-latest
     needs:
-      - unit-tests-in-release-mode-opencv4100
+      - unit-tests-in-release-mode-opencv4110
     steps:
       - name: Checkout
         uses: actions/checkout@v2
@@ -371,7 +371,7 @@ jobs:
     runs-on: ubuntu-latest
     needs:
       - python-utils-linters
-      - unit-tests-in-release-mode-opencv4100
+      - unit-tests-in-release-mode-opencv4110
     steps:
       - name: Checkout
         uses: actions/checkout@v2

Dockerfile

@@ -15,14 +15,14 @@ WORKDIR /home
 #------------------------------	#
 #     INSTALL OPENCV 4		    #
 #------------------------------	#
-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 && \
+RUN wget -O opencv.zip https://github.com/opencv/opencv/archive/4.11.0.zip && \
+	wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.11.0.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 -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.11.0/modules ../opencv-4.11.0 && \
 	cmake --build . --target install -- -j4 && \
 	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 opencv-4.11.0 && rm -rf opencv_contrib-4.11.0 && rm -rf build && \
 	rm -rf /var/lib/apt/lists/*
 
 #------------------------------	#

README.md

@@ -9,15 +9,15 @@ Toolbox described in the paper ["MC-Calib: A generic and robust calibration tool
 
 For Windows users, follow [this installation guide](/docs/Windows.md).
 
-Requirements: Ceres, Boost, OpenCV {4.2.0, 4.5.5, 4.10.0}, c++17 
+Requirements: Ceres, Boost, OpenCV {4.2.0, 4.5.5, 4.10.0, 4.11.0}, c++17 
 
 - [Install](https://docs.docker.com/engine/install/) docker
 
 - Pull the image:
 
    ```bash
-   docker pull bailool/mc-calib-prod:opencv4100 # production environment
-   docker pull bailool/mc-calib-dev:opencv4100  # development environment
+   docker pull bailool/mc-calib-prod:opencv4110 # production environment
+   docker pull bailool/mc-calib-dev:opencv4110  # development environment
    ```
 
 - Run pulled image (set `PATH_TO_REPO_ROOT` and `PATH_TO_DATA` appropriately):
@@ -27,7 +27,7 @@ Requirements: Ceres, Boost, OpenCV {4.2.0, 4.5.5, 4.10.0}, c++17
                -ti --rm \
                --volume="$PATH_TO_REPO_ROOT:/home/MC-Calib" \
                --volume="$PATH_TO_DATA:/home/MC-Calib/data" \
-               bailool/mc-calib-prod:opencv4100
+               bailool/mc-calib-prod:opencv4110
    ```
       
 Compiling the code:

configs/Blender_Images/calib_param_synth_Scenario1.yml

@@ -17,19 +17,19 @@ number_y_square_per_board: []
 square_size_per_board: []
 
 ######################################## Camera Parameters ###################################################
-distortion_model: 0             # 0:Brown (perspective) // 1: Kannala (fisheye)
-distortion_per_camera : []         # specify the model per camera, #leave "distortion_per_camera" empty [] if they all follow the same model (make sure that the vector is as long as cameras nb)
+distortion_model: 0        # 0:Brown (perspective) // 1: Kannala (fisheye)
+distortion_per_camera : [] # specify the model per camera, #leave "distortion_per_camera" empty [] if they all follow the same model (make sure that the vector is as long as cameras nb)
 number_camera: 2           # number of cameras in the rig to calibrate
 refine_corner: 1           # activate or deactivate the corner refinement
-min_perc_pts: 0.5           # min percentage of points visible to assume a good detection
+min_perc_pts: 0.5          # min percentage of points visible to assume a good detection
 
-cam_params_path: "../data/Blender_Images/Scenario_1/initial_values.yml"   # file with cameras intrinsics to initialize the intrinsic, write "None" if no initialization available 
-fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
+cam_params_path: "None"    # "../data/Blender_Images/Scenario_1/initial_values.yml"   # file with cameras intrinsics to initialize the intrinsic, write "None" if no initialization available 
+fix_intrinsic: 0           # if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
 root_path: "../data/Blender_Images/Scenario_1/Images"
 cam_prefix: "Cam_"
-keypoints_path: "../data/Blender_Images/Scenario_1/Results/detected_keypoints_data.yml" # "None" #
+keypoints_path: "None"     # "../data/Blender_Images/Scenario_1/Results/detected_keypoints_data.yml" # "None" #
 
 ######################################## Optimization Parameters #############################################
 quaternion_averaging: 1    # use Quaternion Averaging or median for average rotation

docs/Windows.md

@@ -28,8 +28,8 @@ This documentation is meant to guide the installation of the MC-Calib toolbox, s
    Then pull the docker image using either one of the commands given below.
 
 ```bash
-docker pull bailool/mc-calib-prod:opencv4100 # production environment
-docker pull bailool/mc-calib-dev:opencv4100 # development environment
+docker pull bailool/mc-calib-prod:opencv4110 # production environment
+docker pull bailool/mc-calib-dev:opencv4110 # development environment
 ```
 
 4. **Running Pulled Image using Docker**  
@@ -41,7 +41,7 @@ Docker run `
     -ti --rm `
     --volume=”$PATH_TO_REPO_ROOT:/home/MC-Calib” `
     --volume=”$PATH_TO_DATA:/home/MC-Calib/data” `
-    bailool/mc-calib-prod:opencv4100
+    bailool/mc-calib-prod:opencv4110
 ```
 
 ### User Personalization

tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml

@@ -17,14 +17,14 @@ number_y_square_per_board: []
 square_size_per_board: []
 
 ######################################## Camera Parameters ###################################################
-distortion_model: 0             # 0:Brown (perspective) // 1: Kannala (fisheye)
-distortion_per_camera : []         # specify the model per camera, #leave "distortion_per_camera" empty [] if they all follow the same model (make sure that the vector is as long as cameras nb)
+distortion_model: 0        # 0:Brown (perspective) // 1: Kannala (fisheye)
+distortion_per_camera : [] # specify the model per camera, #leave "distortion_per_camera" empty [] if they all follow the same model (make sure that the vector is as long as cameras nb)
 number_camera: 2           # number of cameras in the rig to calibrate
 refine_corner: 1           # activate or deactivate the corner refinement
-min_perc_pts: 0.5           # min percentage of points visible to assume a good detection
+min_perc_pts: 0.5          # min percentage of points visible to assume a good detection
 
-cam_params_path: "../data/Blender_Images/Scenario_1/initial_values.yml"   # file with cameras intrinsics to initialize the intrinsic, write "None" if no initialization available 
-fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
+cam_params_path: "None"    # file with cameras intrinsics to initialize the intrinsic, write "None" if no initialization available 
+fix_intrinsic: 0           # if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
 root_path: "../data/Blender_Images/Scenario_1/Images"
@@ -35,7 +35,7 @@ ransac_threshold: 10       # RANSAC threshold in pixel (keep it high just to rem
 number_iterations: 1000    # Max number of iterations for the non linear refinement
 
 ######################################## Hand-eye method #############################################
-he_approach: 0 #0: bootstrapped he technique, 1: traditional he
+he_approach: 0             # 0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
 save_path: "../data/Blender_Images/Scenario_1/Results"