From 4e4ca46f31d9a4ba20ab0eb51a616c3bab09d25c Mon Sep 17 00:00:00 2001 From: RoboticsYY Date: Mon, 8 Jun 2020 18:07:53 +0800 Subject: [PATCH 1/2] Enable OpenCV deb install --- .travis.yml | 1 + .travis/before_script.sh | 5 +++++ 2 files changed, 6 insertions(+) create mode 100644 .travis/before_script.sh diff --git a/.travis.yml b/.travis.yml index ca02c1d..b6408f5 100644 --- a/.travis.yml +++ b/.travis.yml @@ -19,6 +19,7 @@ env: matrix: - TEST=catkin_lint - ROS_DISTRO=melodic + BEFORE_SCRIPT="source moveit_calibration/.travis/before_script.sh" before_script: - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci diff --git a/.travis/before_script.sh b/.travis/before_script.sh new file mode 100644 index 0000000..1019a95 --- /dev/null +++ b/.travis/before_script.sh @@ -0,0 +1,5 @@ +#!/bin/bash + +git clone https://github.com/RoboticsYY/opencv_deb_install.git + +find ./opencv_deb_install -name "OpenCV-3.4.5-x86_64-*.deb" | xargs sudo dpkg -i \ No newline at end of file From 8045511b293ffa728864f74e63579a8a8b3aabc7 Mon Sep 17 00:00:00 2001 From: RoboticsYY Date: Mon, 8 Jun 2020 20:56:04 +0800 Subject: [PATCH 2/2] Correct target detection test reference --- .../handeye_calibration_target/test/handeye_target_test.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_calibration_plugins/handeye_calibration_target/test/handeye_target_test.cpp b/moveit_calibration_plugins/handeye_calibration_target/test/handeye_target_test.cpp index 8a4bd14..25e3038 100644 --- a/moveit_calibration_plugins/handeye_calibration_target/test/handeye_target_test.cpp +++ b/moveit_calibration_plugins/handeye_calibration_target/test/handeye_target_test.cpp @@ -129,8 +129,8 @@ TEST_F(MoveItHandEyeTargetTester, DetectArucoMarkerPose) camera_transform = target_->getTransformStamped(camera_info->header.frame_id); Eigen::Affine3d ret = tf2::transformToEigen(camera_transform); std::cout << "Translation:\n" << ret.translation() << "\nRotation:\n" << ret.rotation().eulerAngles(0, 1, 2) << std::endl; - Eigen::Vector3d t(0.412949, -0.198895, 11.1761); - Eigen::Vector3d r(0.324172, -2.03144, 2.90114); + Eigen::Vector3d t(0.0148984, 0.0123107, 0.58609); + Eigen::Vector3d r(2.12328, -1.50481, -1.29729); ASSERT_TRUE(ret.translation().isApprox(t, 0.01)); ASSERT_TRUE(ret.rotation().eulerAngles(0, 1, 2).isApprox(r, 0.01)); }