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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/opencv/solvepnp.h
+5 -1
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@@ -45,10 +45,14 @@
#define RTABMAP_CORELIB_SRC_OPENCV_SOLVEPNP_H_
#include <opencv2/core/core.hpp>
#if CV_MAJOR_VERSION >= 5
#include <opencv2/geometry.hpp>
#else
#include <opencv2/calib3d/calib3d.hpp>
#if CV_MAJOR_VERSION >= 3
#include <opencv2/calib3d/calib3d_c.h>
#endif
#endif
namespace cv3 {
@@ -95,7 +99,7 @@ bool solvePnPRansac( cv::InputArray objectPoints, cv::InputArray imagePoints,
cv::OutputArray rvec, cv::OutputArray tvec,
bool useExtrinsicGuess = false, int iterationsCount = 100,
float reprojectionError = 8.0, double confidence = 0.99,
cv::OutputArray inliers = cv::noArray(), int flags = CV_ITERATIVE );
cv::OutputArray inliers = cv::noArray(), int flags = cv::SOLVEPNP_ITERATIVE );
int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters );