OpenCV 5 support

corelib/include/rtabmap/core/DBDriverSqlite3.h

@@ -30,7 +30,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
 #include "rtabmap/core/DBDriver.h"
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 
 typedef struct sqlite3_stmt sqlite3_stmt;
 typedef struct sqlite3 sqlite3;

corelib/include/rtabmap/core/EpipolarGeometry.h

@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/Parameters.h"
 #include "rtabmap/utilite/UStl.h"
 #include <opencv2/core/core.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <list>

corelib/include/rtabmap/core/Features2d.h

@@ -32,7 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/core/core.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <list>
 #include <numeric>
 #include "rtabmap/core/Parameters.h"
@@ -70,6 +74,10 @@ class BriefDescriptorExtractor;
 class SIFT;
 #endif
 class SURF;
+#if (CV_MAJOR_VERSION == 5)
+class BRISK;
+class KAZE;
+#endif
 }
 namespace cuda {
 class FastFeatureDetector;
@@ -89,7 +97,13 @@ typedef cv::xfeatures2d::FREAK CV_FREAK;
 typedef cv::xfeatures2d::DAISY CV_DAISY;
 typedef cv::GFTTDetector CV_GFTT;
 typedef cv::xfeatures2d::BriefDescriptorExtractor CV_BRIEF;
+#if (CV_MAJOR_VERSION < 5)
 typedef cv::BRISK CV_BRISK;
+typedef cv::KAZE CV_KAZE;
+#else
+typedef cv::xfeatures2d::BRISK CV_BRISK;
+typedef cv::xfeatures2d::KAZE CV_KAZE;
+#endif
 typedef cv::ORB CV_ORB;
 typedef cv::cuda::SURF_CUDA CV_SURF_GPU;
 typedef cv::cuda::ORB CV_ORB_GPU;
@@ -578,7 +592,7 @@ private:
 	int diffusivity_;
 
 #if CV_MAJOR_VERSION > 2
-	cv::Ptr<cv::KAZE> kaze_;
+	cv::Ptr<CV_KAZE> kaze_;
 #endif
 };
 

corelib/include/rtabmap/core/Memory.h

@@ -41,7 +41,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <set>
 #include "rtabmap/utilite/UStl.h"
 #include <opencv2/core/core.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <pcl/pcl_config.h>
 
 namespace rtabmap {

corelib/include/rtabmap/core/OdometryInfo.h

@@ -34,7 +34,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/RegistrationInfo.h"
 #include "rtabmap/core/CameraModel.h"
 #include "rtabmap/core/LaserScan.h"
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 
 namespace rtabmap {
 

corelib/include/rtabmap/core/SensorData.h

@@ -34,7 +34,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/StereoCameraModel.h>
 #include <rtabmap/core/Transform.h>
 #include <opencv2/core/core.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <rtabmap/core/LaserScan.h>
 #include <rtabmap/core/IMU.h>
 #include <rtabmap/core/GPS.h>

corelib/include/rtabmap/core/Signature.h

@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <pcl/point_types.h>
 #include <opencv2/core/core.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <opencv2/imgproc/imgproc.hpp>
 #include <map>
 #include <list>
@@ -62,7 +66,7 @@ public:
 	virtual ~Signature();
 
 	/**
-	 * Must return a value between >=0 and <=1 (1 means 100% similarity).
+	 * Must return a value between >=0 and <=1 (1 means 100% similarity).
 	 */
 	float compareTo(const Signature & signature) const;
 	bool isBadSignature() const;

corelib/include/rtabmap/core/Statistics.h

@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
 
 #include <opencv2/core/core.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <opencv2/imgproc/imgproc.hpp>
 #include <list>
 #include <vector>

corelib/include/rtabmap/core/VWDictionary.h

@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/core/core.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <list>
 #include <set>
 #include "rtabmap/core/Parameters.h"

corelib/include/rtabmap/core/util3d_correspondences.h

@@ -32,7 +32,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
+#include <opencv2/core/version.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <set>
 #include <map>
 #include <list>

corelib/include/rtabmap/core/util3d_features.h

@@ -30,7 +30,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/rtabmap_core_export.h>
 
+#include <opencv2/core/version.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/calib3d/calib3d.hpp>
+#else
+#include <opencv2/calib.hpp>
+#endif
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/CameraModel.h>
 #include <rtabmap/core/StereoCameraModel.h>