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OpenCV 5 support

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This commit is contained in:
matlabbe
2026-07-08 20:40:40 -07:00
parent e321999b15
commit 0c0fd3b9ec
69 changed files with 374 additions and 224 deletions
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corelib/src/camera/CameraStereoVideo.cpp
+22 -24
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@@ -28,12 +28,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraStereoVideo.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/imgproc/types_c.h>
#if CV_MAJOR_VERSION > 3
#include <opencv2/videoio/videoio_c.h>
#if CV_MAJOR_VERSION > 4
#include <opencv2/videoio/legacy/constants_c.h>
#endif
#include <opencv2/videoio.hpp>
#elif CV_MAJOR_VERSION > 3
#include <opencv2/videoio/videoio_c.h>
#endif
namespace rtabmap
@@ -172,7 +170,7 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
if (cameraName_.empty())
{
unsigned int guid = (unsigned int)capture_.get(CV_CAP_PROP_GUID);
unsigned int guid = (unsigned int)capture_.get(cv::CAP_PROP_GUID);
if (guid != 0 && guid != 0xffffffff)
{
cameraName_ = uFormat("%08x", guid);
@@ -214,17 +212,17 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
if(capture_.isOpened())
{
bool resolutionSet = false;
resolutionSet = capture_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2));
resolutionSet = resolutionSet && capture_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.left().imageHeight());
resolutionSet = capture_.set(cv::CAP_PROP_FRAME_WIDTH, stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2));
resolutionSet = resolutionSet && capture_.set(cv::CAP_PROP_FRAME_HEIGHT, stereoModel_.left().imageHeight());
if(capture2_.isOpened())
{
resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.right().imageWidth());
resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight());
resolutionSet = resolutionSet && capture2_.set(cv::CAP_PROP_FRAME_WIDTH, stereoModel_.right().imageWidth());
resolutionSet = resolutionSet && capture2_.set(cv::CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight());
}
// Check if the resolution was set successfully
int actualWidth = int(capture_.get(CV_CAP_PROP_FRAME_WIDTH));
int actualHeight = int(capture_.get(CV_CAP_PROP_FRAME_HEIGHT));
int actualWidth = int(capture_.get(cv::CAP_PROP_FRAME_WIDTH));
int actualHeight = int(capture_.get(cv::CAP_PROP_FRAME_HEIGHT));
if(!resolutionSet ||
actualWidth != stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2) ||
actualHeight != stereoModel_.left().imageHeight())
@@ -244,17 +242,17 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
if(capture_.isOpened())
{
bool resolutionSet = false;
resolutionSet = capture_.set(CV_CAP_PROP_FRAME_WIDTH, _width*(capture2_.isOpened()?1:2));
resolutionSet = resolutionSet && capture_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
resolutionSet = capture_.set(cv::CAP_PROP_FRAME_WIDTH, _width*(capture2_.isOpened()?1:2));
resolutionSet = resolutionSet && capture_.set(cv::CAP_PROP_FRAME_HEIGHT, _height);
if(capture2_.isOpened())
{
resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_WIDTH, _width);
resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
resolutionSet = resolutionSet && capture2_.set(cv::CAP_PROP_FRAME_WIDTH, _width);
resolutionSet = resolutionSet && capture2_.set(cv::CAP_PROP_FRAME_HEIGHT, _height);
}
// Check if the resolution was set successfully
int actualWidth = int(capture_.get(CV_CAP_PROP_FRAME_WIDTH));
int actualHeight = int(capture_.get(CV_CAP_PROP_FRAME_HEIGHT));
int actualWidth = int(capture_.get(cv::CAP_PROP_FRAME_WIDTH));
int actualHeight = int(capture_.get(cv::CAP_PROP_FRAME_HEIGHT));
if(!resolutionSet ||
actualWidth != _width*(capture2_.isOpened()?1:2) ||
actualHeight != _height)
@@ -273,10 +271,10 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
if (this->getFrameRate() > 0)
{
bool fpsSupported = false;
fpsSupported = capture_.set(CV_CAP_PROP_FPS, this->getFrameRate());
fpsSupported = capture_.set(cv::CAP_PROP_FPS, this->getFrameRate());
if (capture2_.isOpened())
{
fpsSupported = fpsSupported && capture2_.set(CV_CAP_PROP_FPS, this->getFrameRate());
fpsSupported = fpsSupported && capture2_.set(cv::CAP_PROP_FPS, this->getFrameRate());
}
if(fpsSupported)
{
@@ -310,14 +308,14 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
std::string fourccUpperCase = uToUpperCase(_fourcc);
int fourcc = cv::VideoWriter::fourcc(fourccUpperCase.at(0), fourccUpperCase.at(1), fourccUpperCase.at(2), fourccUpperCase.at(3));
bool fourccSupported = false;
fourccSupported = capture_.set(CV_CAP_PROP_FOURCC, fourcc);
fourccSupported = capture_.set(cv::CAP_PROP_FOURCC, fourcc);
if (capture2_.isOpened())
{
fourccSupported = fourccSupported && capture2_.set(CV_CAP_PROP_FOURCC, fourcc);
fourccSupported = fourccSupported && capture2_.set(cv::CAP_PROP_FOURCC, fourcc);
}
// Check if the FOURCC was set successfully
int actualFourcc = int(capture_.get(CV_CAP_PROP_FOURCC));
int actualFourcc = int(capture_.get(cv::CAP_PROP_FOURCC));
if(!fourccSupported || actualFourcc != fourcc)
{
@@ -386,7 +384,7 @@ SensorData CameraStereoVideo::captureImage(SensorCaptureInfo * info)
if(rightImage.type() != CV_8UC1 && rightGrayScale_)
{
cv::Mat tmp;
cv::cvtColor(rightImage, tmp, CV_BGR2GRAY);
cv::cvtColor(rightImage, tmp, cv::COLOR_BGR2GRAY);
rightImage = tmp;
rightCvt = true;
}