Minimal Noetic by JWhitleyWork · Pull Request #530 · ros-perception/image_pipeline

JWhitleyWork · 2020-05-14T18:18:15Z

Re-write of #507 with some cherry-picks from that branch but without significant feature changes.

Signed-off-by: ahcorde <ahcorde@gmail.com>

JWhitleyWork · 2020-05-14T18:18:55Z

@clalancette Tests are still failing and I'm not familiar enough with the math behind the code to fix them. Would you mind taking a look?

SteveMacenski · 2020-05-14T18:28:54Z

@JWhitleyWork the Circle builds are failing from lack of memory. Can you reduce the CI builds to 1 at a time? 4 appears to be too much.

We already had to do that with ROS2 branch recently (https://github.com/ros-perception/image_pipeline/blob/ros2/.circleci/config.yml), not sure what changed. Maybe Circle is throttling us.

SteveMacenski · 2020-05-14T18:33:58Z

https://github.com/ros-perception/image_pipeline/pull/530/files#diff-72ab43337037c75a52cd0446749284f3R190-R197

These are the only functional changes I see, maybe changing this cast did something?

Alot of the errors I see are

TypeError: integer argument expected, got float

on lines in the test like cv2.circle(pattern, (x*(1 + 2*i + (j%2)) + x/2, x*j + x/2), x/3, (0,0,0), -1) that might cause a problem. See above the actual FAILED tests, you'll see a couple of these errors

JWhitleyWork · 2020-05-14T19:30:51Z

Can you reduce the CI builds to 1 at a time?

Done

@SteveMacenski Sorry for lack of clarification. Here are the build failures that I'm talking about:

13:32:14 Scanning dependencies of target _run_tests_camera_calibration_nosetests_test.directed.py
13:32:14 -- run_tests.py: execute commands
13:32:14   "/usr/bin/cmake" -E make_directory /tmp/ws/test_results/camera_calibration
13:32:14   /usr/bin/nosetests3 -P --process-timeout=60 /tmp/ws/src/image_pipeline/camera_calibration/test/directed.py --with-xunit --xunit-file=/tmp/ws/test_results/camera_calibration/nosetests-test.directed.py.xml
13:32:15 FFF.F
13:32:26 ======================================================================
13:32:26 FAIL: test_monocular (directed.TestArtificial)
13:32:26 ----------------------------------------------------------------------
13:32:26 Traceback (most recent call last):
13:32:26   File "/tmp/ws/src/image_pipeline/camera_calibration/test/directed.py", line 258, in test_monocular
13:32:26     self.assert_good_mono(mc, self.limages[i], setup.lin_err)
13:32:26   File "/tmp/ws/src/image_pipeline/camera_calibration/test/directed.py", line 236, in assert_good_mono
13:32:26     self.assertTrue(lin_err < max_err, 'lin_err is %f' % lin_err)
13:32:26 AssertionError: False is not true : lin_err is 0.200393
13:32:26 -------------------- >> begin captured stdout << ---------------------
13:32:26 linear error is 0.200393
13:32:26 
13:32:26 --------------------- >> end captured stdout << ----------------------
13:32:26 
13:32:26 ======================================================================
13:32:26 FAIL: Test that the distortion coefficients returned for a rational_polynomial model are not empty.
13:32:26 ----------------------------------------------------------------------
13:32:26 Traceback (most recent call last):
13:32:26   File "/tmp/ws/src/image_pipeline/camera_calibration/test/directed.py", line 281, in test_rational_polynomial_model
13:32:26     self.assert_good_mono(mc, self.limages[i], setup.lin_err)
13:32:26   File "/tmp/ws/src/image_pipeline/camera_calibration/test/directed.py", line 236, in assert_good_mono
13:32:26     self.assertTrue(lin_err < max_err, 'lin_err is %f' % lin_err)
13:32:26 AssertionError: False is not true : lin_err is 0.215554
13:32:26 -------------------- >> begin captured stdout << ---------------------
13:32:26 linear error is 0.215554
13:32:26 
13:32:26 --------------------- >> end captured stdout << ----------------------
13:32:26 
13:32:26 ======================================================================
13:32:26 FAIL: test_monocular (directed.TestDirected)
13:32:26 ----------------------------------------------------------------------
13:32:26 Traceback (most recent call last):
13:32:26   File "/tmp/ws/src/image_pipeline/camera_calibration/test/directed.py", line 93, in test_monocular
13:32:26     self.assert_good_mono(mc, dim, max_errs[i])
13:32:26   File "/tmp/ws/src/image_pipeline/camera_calibration/test/directed.py", line 82, in assert_good_mono
13:32:26     self.assertTrue(lin_err < max_err, 'lin_err is %f' % lin_err)
13:32:26 AssertionError: False is not true : lin_err is 2.349721
13:32:26 
13:32:26 ======================================================================
13:32:26 FAIL: test_stereo (directed.TestDirected)
13:32:26 ----------------------------------------------------------------------
13:32:26 Traceback (most recent call last):
13:32:26   File "/tmp/ws/src/image_pipeline/camera_calibration/test/directed.py", line 122, in test_stereo
13:32:26     self.assertTrue(epierror < epierrors[i],
13:32:26 AssertionError: False is not true : Epipolar error is 1.745842 for resolution i = 0
13:32:26 -------------------- >> begin captured stdout << ---------------------
13:32:26 Dim = (320, 240)
13:32:26 
13:32:26 Left:
13:32:26 D = [-0.41515829993748576, 0.05110770632388463, 0.07098419147531078, -0.06099314655212798, 0.0]
13:32:26 K = [241.92199869716805, 0.0, 232.55796349899597, 0.0, 249.2727425475938, 35.235295320848486, 0.0, 0.0, 1.0]
13:32:26 R = [0.9792180825079992, 0.07252016617033023, 0.1894010886663131, -0.07248074638854332, 0.9973442246295716, -0.007144158522771803, -0.18941617748311937, -0.006732243063535294, 0.981873815014443]
13:32:26 P = [3033.80782706034, 0.0, 192.16491222381592, 0.0, 0.0, 3033.80782706034, 80.99110150337219, 0.0, 0.0, 0.0, 1.0, 0.0]
13:32:26 
13:32:26 Right:
13:32:26 D = [-0.4195090199363406, 0.05603810767161762, 0.07101175369447646, -0.06441343860299868, 0.0]
13:32:26 K = [241.49812702968313, 0.0, 238.56509880116838, 0.0, 249.06214913696053, 32.67009253686523, 0.0, 0.0, 1.0]
13:32:26 R = [0.9816596131367914, 0.0683023428180517, 0.17798649921185128, -0.06833936111763889, 0.9976445090246253, -0.005930036681791607, -0.17797228901758255, -0.006342206128768554, 0.9840150612481814]
13:32:26 P = [3033.80782706034, 0.0, 192.16491222381592, -285.39522943093715, 0.0, 3033.80782706034, 80.99110150337219, 0.0, 0.0, 0.0, 1.0, 0.0]
13:32:26 self.T = [-0.09234631409917826, -0.006425312317199932, -0.01674347904474744]
13:32:26 self.R = [0.9999229626365073, 0.00423040385007531, 0.011669296272495834, -0.004225813037723542, 0.9999909838333203, -0.00041803856090849416, -0.011670959532113154, 0.0003686940919905222, 0.9999318240601537]
13:32:26 
13:32:26 --------------------- >> end captured stdout << ----------------------
13:32:26 
13:32:26 ----------------------------------------------------------------------
13:32:26 Ran 5 tests in 11.732s
13:32:26 
13:32:26 FAILED (failures=4)
13:32:26 -- run_tests.py: verify result "/tmp/ws/test_results/camera_calibration/nosetests-test.directed.py.xml"
13:32:26 Built target _run_tests_camera_calibration_nosetests_test.directed.py
13:32:26 Scanning dependencies of target _run_tests_camera_calibration_nosetests_test.multiple_boards.py
13:32:26 -- run_tests.py: execute commands
13:32:26   "/usr/bin/cmake" -E make_directory /tmp/ws/test_results/camera_calibration
13:32:26   /usr/bin/nosetests3 -P --process-timeout=60 /tmp/ws/src/image_pipeline/camera_calibration/test/multiple_boards.py --with-xunit --xunit-file=/tmp/ws/test_results/camera_calibration/nosetests-test.multiple_boards.py.xml
13:32:33 F
13:32:33 ======================================================================
13:32:33 FAIL: test_multiple_boards (multiple_boards.TestMultipleBoards)
13:32:33 ----------------------------------------------------------------------
13:32:33 Traceback (most recent call last):
13:32:33   File "/tmp/ws/src/image_pipeline/camera_calibration/test/multiple_boards.py", line 71, in test_multiple_boards
13:32:33     self.assert_(epi_big < 1.0, "Epipolar error for large checkerboard > 1.0. Error: %.2f" % epi_big)
13:32:33 AssertionError: False is not true : Epipolar error for large checkerboard > 1.0. Error: 152.00
13:32:33 -------------------- >> begin captured stdout << ---------------------
13:32:33 
13:32:33 Left:
13:32:33 D = [8.033206324131141, -1112.4968054883295, -0.12464117007090397, 0.05145877700150152, 44346.23866762433]
13:32:33 K = [3859.287985260978, 0.0, 283.5779783443467, 0.0, 3172.76596484317, 346.65918955202807, 0.0, 0.0, 1.0]
13:32:33 R = [0.130008206809717, 0.008478185353019177, 0.9914766696878157, -0.03679333342088533, 0.9993159696919921, -0.0037206631577533767, -0.9908300140679538, -0.03599601494157029, 0.13023121795646708]
13:32:33 P = [10071.06031034245, 0.0, -48972.69860839844, 0.0, 0.0, 10071.06031034245, 1907.7120513916016, 0.0, 0.0, 0.0, 1.0, 0.0]
13:32:33 
13:32:33 Right:
13:32:33 D = [-2.9599126406348053, 371.7125110296346, -0.13320120391531134, 0.09444426126177655, 3.430916753556746]
13:32:33 K = [3948.9941661898433, 0.0, 267.96478042930727, 0.0, 3400.628522793096, 181.75860807601285, 0.0, 0.0, 1.0]
13:32:33 R = [0.12433607052142116, 0.06127832696737718, 0.9903461557512967, -0.03289563728133663, 0.9977970921299045, -0.05760937410666613, -0.9916947204735674, -0.02541514472093939, 0.12607795923025877]
13:32:33 P = [10071.06031034245, 0.0, -48972.69860839844, -3892.741051307987, 0.0, 10071.06031034245, 1907.7120513916016, 0.0, 0.0, 0.0, 1.0, 0.0]
13:32:33 self.T = [-0.0480593016983534, -0.023685754189796043, -0.38279595362357993]
13:32:33 self.R = [0.9999759435587814, 0.0038780665591547437, -0.0057509045799394864, -0.003563507490409819, 0.9985489416209146, 0.05373371941450881, 0.005950942622021858, -0.05371193338089902, 0.9985387396062284]
13:32:33 
13:32:33 --------------------- >> end captured stdout << ----------------------
13:32:33 -------------------- >> begin captured logging << --------------------
13:32:33 rospy.topics: INFO: topicmanager initialized
13:32:33 --------------------- >> end captured logging << ---------------------
13:32:33 
13:32:33 ----------------------------------------------------------------------
13:32:33 Ran 1 test in 6.757s
13:32:33 
13:32:33 FAILED (failures=1)

SteveMacenski · 2020-05-14T19:55:23Z

My first gut check would be trying to remove the int() that were added as part of this port and see if that fixes things. That seems to be the only functional change. After that, then I think its worth looking a the changes between CV3 and 4 in calibration.

JWhitleyWork · 2020-05-14T21:11:56Z

@SteveMacenski Found it. There was a float division (/) that needed to be an integer division (//). This wasn't a problem in Python2 because the conversion is implicit.

SteveMacenski · 2020-05-14T21:40:44Z

N still failed, weirdly

JWhitleyWork · 2020-05-14T21:50:56Z

N still failed, weirdly

If you look at the log, it actually passed but the Github hook seems to report "Unstable" as "failed." Not sure why.

SteveMacenski · 2020-05-14T21:53:36Z

I think it failed from the quality gate due to build warnings. We could also try to rerun.

JWhitleyWork · 2020-05-14T22:00:36Z

@SteveMacenski Go for it. I'm not familiar with how to kick builds on the build farm other than pushing changes.

SteveMacenski · 2020-05-14T22:09:57Z

like that ;-)

SteveMacenski · 2020-05-14T22:10:52Z

Its still closer than the other PR, we should close that since this supersedes

JWhitleyWork · 2020-05-14T22:29:08Z

Still getting failure due to GTK deprecation warnings. I'll look into them real quick.

JWhitleyWork · 2020-05-14T23:20:05Z

@SteveMacenski So, oddly, there are 3 deprecated functions in GTK2 that cause these errors while it builds just fine with GTK3. I updated to GTK3. Unfortunately, I have no way to test it since a camera driver hasn't been released yet for Noetic! Really don't think it should be a problem, though. The GTK functionality is very minimal.

SteveMacenski · 2020-05-14T23:23:18Z

I deeply hate GTK and VTK. Its the bane of my maintaining existence.

just use rviz

SteveMacenski · 2020-05-15T00:28:54Z

Let me know if you want to release or if I should tomorrow. I don't mind.

JWhitleyWork · 2020-05-15T00:51:08Z

I'd appreciate it if you would. I have a lot of Autoware stuff to do tonight.

SteveMacenski · 2020-05-15T01:38:35Z

Will do

* cmake_minimum_required to 3.0.2 Signed-off-by: ahcorde <ahcorde@gmail.com> * Adapted to OpenCV4 Signed-off-by: ahcorde <ahcorde@gmail.com> * import setup from setuptools instead of distutils-core Signed-off-by: ahcorde <ahcorde@gmail.com> * Adapted .circleci to noetic Signed-off-by: ahcorde <ahcorde@gmail.com> * Updating CI for Noetic with temp image. * Updated directed.py test Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed compilation test_rectify Signed-off-by: ahcorde <ahcorde@gmail.com> * Applying some fixes from ahcorde d1bed52. * Removing import of print_function from __future__. * CI: Reducing simultaneous jobs to 1. * Fixing float/integer division bug. * Updating image_view to use GTK3. Co-authored-by: ahcorde <ahcorde@gmail.com>

ahcorde and others added 9 commits May 13, 2020 16:32

cmake_minimum_required to 3.0.2

9f75a8a

Signed-off-by: ahcorde <ahcorde@gmail.com>

Adapted to OpenCV4

a6c67de

Signed-off-by: ahcorde <ahcorde@gmail.com>

import setup from setuptools instead of distutils-core

3cf67d4

Signed-off-by: ahcorde <ahcorde@gmail.com>

Adapted .circleci to noetic

3fe8fd2

Signed-off-by: ahcorde <ahcorde@gmail.com>

Updating CI for Noetic with temp image.

e639b34

Updated directed.py test

c2c023e

Signed-off-by: ahcorde <ahcorde@gmail.com>

Fixed compilation test_rectify

f82aeed

Signed-off-by: ahcorde <ahcorde@gmail.com>

Applying some fixes from ahcorde d1bed52.

50a2303

Removing import of print_function from __future__.

4a7aee7

JWhitleyWork requested a review from clalancette May 14, 2020 18:18

JWhitleyWork changed the base branch from melodic to noetic May 14, 2020 18:19

CI: Reducing simultaneous jobs to 1.

e434a45

JWhitleyWork requested review from SteveMacenski and removed request for clalancette May 14, 2020 19:32

Fixing float/integer division bug.

94c6448

SteveMacenski closed this May 14, 2020

SteveMacenski reopened this May 14, 2020

SteveMacenski approved these changes May 14, 2020

View reviewed changes

JWhitleyWork mentioned this pull request May 14, 2020

Noetic #507

Closed

Updating image_view to use GTK3.

3dbc78a

JWhitleyWork merged commit e71a45c into noetic May 14, 2020

JWhitleyWork deleted the fix/noetic branch May 14, 2020 23:45

This was referenced May 15, 2020

Noetic Release #527

Closed

Use OpenCV 3.2 on Buster #536

Merged

port to python 3 for noetic #466

Closed

Conversation

JWhitleyWork commented May 14, 2020

Uh oh!

JWhitleyWork commented May 14, 2020

Uh oh!

SteveMacenski commented May 14, 2020

Uh oh!

SteveMacenski commented May 14, 2020

Uh oh!

JWhitleyWork commented May 14, 2020

Uh oh!

SteveMacenski commented May 14, 2020

Uh oh!

JWhitleyWork commented May 14, 2020

Uh oh!

SteveMacenski commented May 14, 2020

Uh oh!

JWhitleyWork commented May 14, 2020

Uh oh!

SteveMacenski commented May 14, 2020 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

JWhitleyWork commented May 14, 2020

Uh oh!

SteveMacenski commented May 14, 2020

Uh oh!

SteveMacenski commented May 14, 2020

Uh oh!

JWhitleyWork commented May 14, 2020

Uh oh!

JWhitleyWork commented May 14, 2020

Uh oh!

SteveMacenski commented May 14, 2020

Uh oh!

SteveMacenski commented May 15, 2020

Uh oh!

JWhitleyWork commented May 15, 2020

Uh oh!

SteveMacenski commented May 15, 2020

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

SteveMacenski commented May 14, 2020 •

edited

Loading