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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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guilib/include/rtabmap/gui/DatabaseViewer.h
+4
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@@ -36,7 +36,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QSet>
#include <QtGui/QImage>
#include <opencv2/core/core.hpp>
#if CV_MAJOR_VERSION < 5
#include <opencv2/features2d/features2d.hpp>
#else
#include <opencv2/features.hpp>
#endif
#include <set>
#include <vector>
#include <pcl/point_cloud.h>
guilib/include/rtabmap/gui/ImageView.h
+5
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@@ -34,7 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QRectF>
#include <QtCore/QMultiMap>
#include <QtCore/QSettings>
#include <opencv2/core/version.hpp>
#if CV_MAJOR_VERSION < 5
#include <opencv2/features2d/features2d.hpp>
#else
#include <opencv2/features.hpp>
#endif
#include <map>
#include "rtabmap/utilite/UCv2Qt.h"
#include <rtabmap/core/CameraModel.h>
guilib/include/rtabmap/gui/KeypointItem.h
+5
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@@ -34,7 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QGraphicsTextItem>
#include <QtGui/QPen>
#include <QtGui/QBrush>
#include <opencv2/core/version.hpp>
#if CV_MAJOR_VERSION < 5
#include <opencv2/features2d/features2d.hpp>
#else
#include <opencv2/features.hpp>
#endif
namespace rtabmap {
guilib/src/CalibrationDialog.cpp
+16 -10
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@@ -30,13 +30,17 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/imgproc_c.h>
#if CV_MAJOR_VERSION >= 5
#include <opencv2/calib.hpp>
#include <opencv2/geometry.hpp>
#else
#include <opencv2/calib3d/calib3d.hpp>
#if CV_MAJOR_VERSION >= 3
#include <opencv2/calib3d/calib3d_c.h>
#endif
#endif
#include <opencv2/highgui/highgui.hpp>
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
#if (CV_MAJOR_VERSION > 2 and CV_MAJOR_VERSION < 5) or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
#include <rtabmap/core/stereo/stereoRectifyFisheye.h>
#endif
@@ -737,7 +741,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
if(!viewGray.empty())
{
int flags = CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE;
int flags = cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_NORMALIZE_IMAGE;
if(!viewGray.empty())
{
@@ -748,7 +752,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
if( scale == 1 )
timg = viewGray;
else
cv::resize(viewGray, timg, cv::Size(), scale, scale, CV_INTER_CUBIC);
cv::resize(viewGray, timg, cv::Size(), scale, scale, cv::INTER_CUBIC);
#ifdef HAVE_CHARUCO
if(ui_->comboBox_board_type->currentIndex() >= 1 )
@@ -833,7 +837,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
float ratio = ui_->comboBox_board_type->currentIndex() >= 1 ?6.0f:2.0f;
float radius = minSquareDistance==-1.0f?5.0f:(minSquareDistance/ratio);
cv::cornerSubPix( viewGray, pointBuf[id], cv::Size(radius, radius), cv::Size(-1,-1),
cv::TermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1 ));
cv::TermCriteria( cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30, 0.1 ));
// Filter points that drifted to far (caused by reflection or bad subpixel gradient)
float threshold = ui_->doubleSpinBox_subpixel_error->value();
@@ -1473,7 +1477,7 @@ void CalibrationDialog::calibrate()
{
cv::projectPoints( cv::Mat(objectPoints_[id][i]), rvecs[i], tvecs[i], K, D, imagePoints2);
}
err = cv::norm(cv::Mat(imagePoints_[id][i]), cv::Mat(imagePoints2), CV_L2);
err = cv::norm(cv::Mat(imagePoints_[id][i]), cv::Mat(imagePoints2), cv::NORM_L2);
int n = (int)objectPoints_[id][i].size();
reprojErrs[i] = (float) std::sqrt(err*err/n);
@@ -1750,19 +1754,21 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
UINFO("Compute stereo rectification");
cv::Mat R1, R2, P1, P2, Q;
#if CV_MAJOR_VERSION < 5
stereoRectifyFisheye(
left.K_raw(), D_left,
right.K_raw(), D_right,
imageSize, R, Tvec, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, imageSize);
// Very hard to get good results with this one:
/*double balance = 0.0, fov_scale = 1.0;
#else
// Very hard to get good results with this one, however we cannot use the previous one anymore in opencv5
double balance = 0.0, fov_scale = 1.0;
cv::fisheye::stereoRectify(
left.K_raw(), D_left,
right.K_raw(), D_right,
imageSize, R, Tvec, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, imageSize, balance, fov_scale);*/
cv::CALIB_ZERO_DISPARITY, imageSize, balance, fov_scale);
#endif
std::cout << "R1 = " << R1 << std::endl;
std::cout << "R2 = " << R2 << std::endl;
guilib/src/DatabaseViewer.cpp
+2 -4
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@@ -46,8 +46,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/core/core_c.h>
#include <opencv2/imgproc/types_c.h>
#include <opencv2/highgui/highgui.hpp>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UFile.h>
@@ -5980,7 +5978,7 @@ void DatabaseViewer::updateStereo(const SensorData * data)
cv::Mat leftMono;
if(data->imageRaw().channels() == 3)
{
cv::cvtColor(data->imageRaw(), leftMono, CV_BGR2GRAY);
cv::cvtColor(data->imageRaw(), leftMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -5989,7 +5987,7 @@ void DatabaseViewer::updateStereo(const SensorData * data)
cv::Mat rightMono;
if(data->rightRaw().channels() == 3)
{
cv::cvtColor(data->rightRaw(), rightMono, CV_BGR2GRAY);
cv::cvtColor(data->rightRaw(), rightMono, cv::COLOR_BGR2GRAY);
}
else
{
guilib/src/MainWindow.cpp
+4
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@@ -93,6 +93,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QInputDialog>
#include <QToolButton>
#if CV_MAJOR_VERSION >= 5
#include <opencv2/geometry.hpp>
#endif
//RGB-D stuff
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/Odometry.h"
guilib/src/PreferencesDialog.cpp
+10 -10
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@@ -2639,19 +2639,19 @@ void PreferencesDialog::restoreConfigOwnership(const QString & filePath)
gid_t gid = (gid_t)atoi(sudoGid);
// Restore the config file and its containing directory so the user
// can still write preferences without sudo afterwards.
if(!filePath.isEmpty() && QFile::exists(filePath))
auto restoreOwnership = [uid, gid](const QString & path)
{
if(chown(filePath.toStdString().c_str(), uid, gid) != 0)
if(!path.isEmpty() && QFile::exists(path))
{
UWARN("Could not restore ownership of \"%s\" to uid=%d (%s).",
filePath.toStdString().c_str(), (int)uid, strerror(errno));
if(chown(path.toStdString().c_str(), uid, gid) != 0)
{
UWARN("Could not restore ownership of \"%s\" to uid=%d (%s).",
path.toStdString().c_str(), (int)uid, strerror(errno));
}
}
}
QString dir = QFileInfo(filePath).absolutePath();
if(!dir.isEmpty())
{
chown(dir.toStdString().c_str(), uid, gid);
}
};
restoreOwnership(filePath);
restoreOwnership(QFileInfo(filePath).absolutePath());
}
}
#else