fixes from running docker

nasa · May 28, 2024 · c18cbbd · c18cbbd
1 parent f7ca38f
commit c18cbbd
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Showing 4 changed files with 13 additions and 10 deletions.
diff --git a/localization/interest_point/CMakeLists.txt b/localization/interest_point/CMakeLists.txt
@@ -32,7 +32,8 @@ find_package(Eigen3 REQUIRED)
 find_package(OpenMVG QUIET REQUIRED)
 
 # Find OpenCV
-find_package(OpenCV 4.0 REQUIRED)
+LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
+find_package(OpenCV4WithXFeatures REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include

diff --git a/localization/interest_point/test/test_matching.cc b/localization/interest_point/test/test_matching.cc
@@ -34,9 +34,9 @@ class MatchingTest : public ::testing::Test {
     // that is not where the test imagery is located.
     std::string data_dir = std::string(std::getenv("DATA_DIR"));
     image1 = cv::imread(data_dir + "/m0004000.jpg",
-                        CV_LOAD_IMAGE_GRAYSCALE);
+                        cv::IMREAD_GRAYSCALE);
     image2 = cv::imread(data_dir + "/m0004025.jpg",
-                        CV_LOAD_IMAGE_GRAYSCALE);
+                        cv::IMREAD_GRAYSCALE);
 
     // Decimate the image to speed things up for our unit tests
     cv::resize(image1, image1, cv::Size(), 0.7, 0.7, cv::INTER_AREA);
@@ -62,7 +62,7 @@ TEST_F(MatchingTest, SURF) {
   EXPECT_NEAR(keypoints2.size(), 2047u, 10);
   EXPECT_EQ(descriptor1.cols, 64);
   // KNN matching seems to be variable
-  EXPECT_NEAR(matches.size(), 798u, 10);
+  EXPECT_NEAR(matches.size(), 800u, 10);
 }
 
 TEST_F(MatchingTest, ORGBRISK) {

diff --git a/localization/marker_tracking/test/test_marker_detector.cc b/localization/marker_tracking/test/test_marker_detector.cc
@@ -72,5 +72,7 @@ TEST(MarkerDetector, TestDetection) {
 // Run all the tests that were declared with TEST()
 int main(int argc, char** argv) {
   testing::InitGoogleTest(&argc, argv);
+  // Initialize ROS
+  ros::init(argc, argv, "test_marker_detector", ros::init_options::AnonymousName);
   return RUN_ALL_TESTS();
 }
diff --git a/scripts/setup/packages_base_focal.lst b/scripts/setup/packages_base_focal.lst
@@ -88,12 +88,12 @@ libmiro0
 libsoracore1
 libdecomputil0
 libjps3d0
-libopencv-core
-libopencv-calib3d
-libopencv-highgui
-libopencv-imgcodecs
-libopencv-imgproc
-libopencv-features2d
+libopencv-core4.2
+libopencv-calib3d4.2
+libopencv-highgui4.2
+libopencv-imgcodecs4.2
+libopencv-imgproc4.2
+libopencv-features2d4.2
 libopencv-xfeatures2d
 build-essential
 cmake