Calibration fixes: Supporting OpenCV prior to and after breaking changes in 4.7

[glvov-bdai]

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-09508dfcb283f5b8f2e58538584a58ce28d369f8c7e23705f004f7d15e6f40e9). 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:
opencv/opencv#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:
opencv/opencv#26126

[glvov-bdai]

• Calibration fixes: Supporting OpenCV prior to and after breaking changes in 4.7 #138 👈
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[coveralls]

Pull Request Test Coverage Report for Build 10703859405

Details

• 0 of 10 (0.0%) changed or added relevant lines in 3 files are covered.
• 1 unchanged line in 1 file lost coverage.
• Overall coverage decreased (-0.05%) to 42.626%

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Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
spot_wrapper/calibration/calibrate_multistereo_cameras_with_charuco_cli.py	0	1	0.0%
spot_wrapper/calibration/calibrate_spot_hand_camera_cli.py	0	1	0.0%
spot_wrapper/calibration/calibration_util.py	0	8	0.0%

Files with Coverage Reduction	New Missed Lines	%
spot_wrapper/calibration/calibrate_multistereo_cameras_with_charuco_cli.py	1	0.0%

Totals
Change from base Build 10686271922:	-0.05%
Covered Lines:	1867
Relevant Lines:	4380

---

💛 - Coveralls

[coveralls]

Pull Request Test Coverage Report for Build 10774998334

Details

• 0 of 165 (0.0%) changed or added relevant lines in 4 files are covered.
• 9 unchanged lines in 3 files lost coverage.
• Overall coverage decreased (-1.3%) to 41.415%

---

Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
spot_wrapper/calibration/spot_in_hand_camera_calibration.py	0	2	0.0%
spot_wrapper/calibration/calibrate_spot_hand_camera_cli.py	0	3	0.0%
spot_wrapper/calibration/calibrate_multistereo_cameras_with_charuco_cli.py	0	40	0.0%
spot_wrapper/calibration/calibration_util.py	0	120	0.0%

Files with Coverage Reduction	New Missed Lines	%
spot_wrapper/calibration/calibrate_spot_hand_camera_cli.py	1	0.0%
spot_wrapper/calibration/calibration_util.py	4	0.0%
spot_wrapper/calibration/calibrate_multistereo_cameras_with_charuco_cli.py	4	0.0%

Totals
Change from base Build 10686271922:	-1.3%
Covered Lines:	1867
Relevant Lines:	4508

---

💛 - Coveralls

[amessing-bdai]

Is there a way to not add this here? When you depend on opencv via rosdep in ros 1 or ros 2, it is pulled in via apt. We have had problems in the past with conflicting versions of opencv between apt and pip.

[amessing-bdai]

@jbarry-bdai @khughes-bdai @tcappellari-bdai Thoughts? It should be a dependency for this to be a stand alone package, but then spot_ros2 needs to uninstall it similar to what we do elsewhere which isn't great.

[glvov-bdai]

@amessing-bdai I would maybe suggest just splitting up the requirements.txt between spot_ros2 and spot_wrapper if possible, and then using that to manage dependencies for both independently. Not sure if there's a good reason to share a requirements.txt (other than potentially maintainability) that I am not aware of/not thinking of

[tcappellari-bdai]

ya i like gary's suggestion of splitting them up (assuming that wouldn't break everything lol)

[glvov-bdai]

Merge activity

• Sep 9, 2:57 PM EDT: @glvov-bdai started a stack merge that includes this pull request via Graphite.
• Sep 9, 2:57 PM EDT: @glvov-bdai merged this pull request with Graphite.