OpenCV 5 support

CMakeLists.txt

@@ -241,7 +241,12 @@ option(BUILD_WITH_RPATH_NOT_RUNPATH "Explicitly disable usage of RUNPATH for the
 set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
 set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
 
-FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
+# Try OpenCV 5 first (calib3d was split into "calib" + "geometry" modules in OpenCV 5)
+FIND_PACKAGE(OpenCV 5 QUIET COMPONENTS core calib imgproc highgui stitching photo video videoio geometry OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
+IF(NOT OpenCV_FOUND)
+  # Fall back to OpenCV < 5 (calib3d module)
+  FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
+ENDIF()
 
 IF(WITH_QT)
 FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)

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>

corelib/src/EpipolarGeometry.cpp

@@ -33,8 +33,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UMath.h"
 
 #include <opencv2/core/core.hpp>
-#include <opencv2/core/core_c.h>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/calib3d/calib3d.hpp>
+#else
+#include <opencv2/geometry.hpp>
+#endif
 #include <iostream>
 
 namespace rtabmap

corelib/src/Features2d.cpp

@@ -36,7 +36,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UMath.h"
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UTimer.h"
-#include <opencv2/imgproc/imgproc_c.h>
 #include <opencv2/core/version.hpp>
 #include <opencv2/opencv_modules.hpp>
 
@@ -865,7 +864,7 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
 		cv::cornerSubPix( image, corners,
 				cv::Size( _subPixWinSize, _subPixWinSize ),
 				cv::Size( -1, -1 ),
-				cv::TermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, _subPixIterations, _subPixEps ) );
+				cv::TermCriteria( cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, _subPixIterations, _subPixEps ) );
 
 		for(unsigned int i=0;i<corners.size(); ++i)
 		{
@@ -2377,8 +2376,13 @@ void BRISK::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kBRISKThresh(), thresh_);
 	Parameters::parse(parameters, Parameters::kBRISKOctaves(), octaves_);
 	Parameters::parse(parameters, Parameters::kBRISKPatternScale(), patternScale_);
-
+#if CV_MAJOR_VERSION > 4
-#if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_XFEATURES2D
+	brisk_ = CV_BRISK::create(thresh_, octaves_, patternScale_);
+#else
+	UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so BRISK cannot be used!");
+#endif
+#elif CV_MAJOR_VERSION < 3
 	brisk_ = cv::Ptr<CV_BRISK>(new CV_BRISK(thresh_, octaves_, patternScale_));
 #else
 	brisk_ = CV_BRISK::create(thresh_, octaves_, patternScale_);
@@ -2389,6 +2393,7 @@ std::vector<cv::KeyPoint> BRISK::generateKeypointsImpl(const cv::Mat & image, co
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
+#if CV_MAJOR_VERSION < 5 || (CV_MAJOR_VERSION > 4 && defined(HAVE_OPENCV_XFEATURES2D))
 	cv::Mat imgRoi(image, roi);
 	cv::Mat maskRoi;
 	if(!mask.empty())
@@ -2396,6 +2401,9 @@ std::vector<cv::KeyPoint> BRISK::generateKeypointsImpl(const cv::Mat & image, co
 		maskRoi = cv::Mat(mask, roi);
 	}
 	brisk_->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
+#else
+	UWARN("RTAB-Map is not built with BRISK feature support!");
+#endif
 	return keypoints;
 }
 
@@ -2403,7 +2411,11 @@ cv::Mat BRISK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Ke
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	cv::Mat descriptors;
+#if CV_MAJOR_VERSION < 5 || (CV_MAJOR_VERSION > 4 && defined(HAVE_OPENCV_XFEATURES2D))
 	brisk_->compute(image, keypoints, descriptors);
+#else
+	UWARN("RTAB-Map is not built with BRISK feature support!");
+#endif
 	return descriptors;
 }
 
@@ -2436,10 +2448,16 @@ void KAZE::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kKAZENOctaveLayers(), nOctaveLayers_);
 	Parameters::parse(parameters, Parameters::kKAZEDiffusivity(), diffusivity_);
 
-#if CV_MAJOR_VERSION > 3
+#if CV_MAJOR_VERSION > 4
-	kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, (cv::KAZE::DiffusivityType)diffusivity_);
+#ifdef HAVE_OPENCV_XFEATURES2D
+	kaze_ = CV_KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, (CV_KAZE::DiffusivityType)diffusivity_);
+#else
+	UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so KAZE cannot be used!");
+#endif
+#elif CV_MAJOR_VERSION > 3
+	kaze_ = CV_KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, (CV_KAZE::DiffusivityType)diffusivity_);
 #elif CV_MAJOR_VERSION > 2
-	kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, diffusivity_);
+	kaze_ = CV_KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, diffusivity_);
 #else
 	UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");
 #endif
@@ -2449,7 +2467,7 @@ std::vector<cv::KeyPoint> KAZE::generateKeypointsImpl(const cv::Mat & image, con
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
-#if CV_MAJOR_VERSION > 2
+#if (CV_MAJOR_VERSION > 2 && CV_MAJOR_VERSION < 5) || (CV_MAJOR_VERSION > 4 && defined(HAVE_OPENCV_XFEATURES2D))
 	cv::Mat imgRoi(image, roi);
 	cv::Mat maskRoi;
 	if (!mask.empty())
@@ -2458,7 +2476,7 @@ std::vector<cv::KeyPoint> KAZE::generateKeypointsImpl(const cv::Mat & image, con
 	}
 	kaze_->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
 #else
-	UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");
+	UWARN("RTAB-Map is not built with Kaze feature support!");
 #endif
 	return keypoints;
 }
@@ -2467,10 +2485,10 @@ cv::Mat KAZE::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	cv::Mat descriptors;
-#if CV_MAJOR_VERSION > 2
+#if (CV_MAJOR_VERSION > 2 && CV_MAJOR_VERSION < 5) || (CV_MAJOR_VERSION > 4 && defined(HAVE_OPENCV_XFEATURES2D))
 	kaze_->compute(image, keypoints, descriptors);
 #else
-	UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");
+	UWARN("RTAB-Map is not built with Kaze feature support!");
 #endif
 	return descriptors;
 }

corelib/src/MarkerDetector.cpp

@@ -30,6 +30,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UStl.h>
 
+#if CV_MAJOR_VERSION > 4
+#include <opencv2/geometry.hpp>
+#endif
+
 #ifdef HAVE_OPENCV_ARUCO
 #if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <8)
 namespace cv{

corelib/src/Memory.cpp

@@ -62,8 +62,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/io/pcd_io.h>
 #include <pcl/common/common.h>
 #include <rtabmap/core/MarkerDetector.h>
-#include <opencv2/imgproc/types_c.h>
 #include <rtabmap/core/LocalGridMaker.h>
+#if CV_MAJOR_VERSION >=5
+#include <opencv2/geometry.hpp>
+#endif
 
 namespace rtabmap {
 
@@ -5373,7 +5375,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 			cv::Mat imageMono;
 			if(decimatedData.imageRaw().channels() == 3)
 			{
-				cv::cvtColor(decimatedData.imageRaw(), imageMono, CV_BGR2GRAY);
+				cv::cvtColor(decimatedData.imageRaw(), imageMono, cv::COLOR_BGR2GRAY);
 			}
 			else
 			{
@@ -5681,7 +5683,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 				cv::Mat imageMono;
 				if(data.imageRaw().channels() == 3)
 				{
-					cv::cvtColor(data.imageRaw(), imageMono, CV_BGR2GRAY);
+					cv::cvtColor(data.imageRaw(), imageMono, cv::COLOR_BGR2GRAY);
 				}
 				else
 				{

corelib/src/RegistrationVis.cpp

@@ -43,7 +43,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UMath.h>
-#include <opencv2/core/core_c.h>
+#if CV_MAJOR_VERSION > 4
+#include <opencv2/geometry.hpp>
+#endif
 
 #if defined(HAVE_OPENCV_XFEATURES2D) && (CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION==3 && CV_MINOR_VERSION >=4 && CV_SUBMINOR_VERSION >= 1))
 #include <opencv2/xfeatures2d.hpp> // For GMS matcher
@@ -2172,7 +2174,7 @@ Transform RegistrationVis::computeTransformationImpl(
 			if(!transform.isNull() && !pcaData.empty())
 			{
 				cv::Mat pcaEigenVectors, pcaEigenValues;
-				cv::PCA pca_analysis(pcaData, cv::Mat(), CV_PCA_DATA_AS_ROW);
+				cv::PCA pca_analysis(pcaData, cv::Mat(), cv::PCA::DATA_AS_ROW);
 				// We take the second eigen value
 				info.inliersDistribution = pca_analysis.eigenvalues.at<float>(0, 1);
 

corelib/src/SensorCaptureThread.cpp

@@ -39,7 +39,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/IMUFilter.h"
 #include "rtabmap/core/Features2d.h"
 #include "rtabmap/core/clams/discrete_depth_distortion_model.h"
-#include <opencv2/imgproc/types_c.h>
 #include <opencv2/stitching/detail/exposure_compensate.hpp>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/ULogger.h>
@@ -757,11 +756,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i
 			else if(data.imageRaw().type() == CV_8UC3)
 			{
 				cv::Mat channels[3];
-				cv::cvtColor(data.imageRaw(), image, CV_BGR2YCrCb);
+				cv::cvtColor(data.imageRaw(), image, cv::COLOR_BGR2YCrCb);
 				cv::split(image, channels);
 				cv::equalizeHist(channels[0], channels[0]);
 				cv::merge(channels, 3, image);
-				cv::cvtColor(image, image, CV_YCrCb2BGR);
+				cv::cvtColor(image, image, cv::COLOR_YCrCb2BGR);
 			}
 			if(!data.depthRaw().empty())
 			{
@@ -777,11 +776,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i
 				else if(data.rightRaw().type() == CV_8UC3)
 				{
 					cv::Mat channels[3];
-					cv::cvtColor(data.rightRaw(), right, CV_BGR2YCrCb);
+					cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2YCrCb);
 					cv::split(right, channels);
 					cv::equalizeHist(channels[0], channels[0]);
 					cv::merge(channels, 3, right);
-					cv::cvtColor(right, right, CV_YCrCb2BGR);
+					cv::cvtColor(right, right, cv::COLOR_YCrCb2BGR);
 				}
 				data.setStereoImage(image, right, data.stereoCameraModels()[0]);
 			}
@@ -796,11 +795,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i
 			else if(data.imageRaw().type() == CV_8UC3)
 			{
 				cv::Mat channels[3];
-				cv::cvtColor(data.imageRaw(), image, CV_BGR2YCrCb);
+				cv::cvtColor(data.imageRaw(), image, cv::COLOR_BGR2YCrCb);
 				cv::split(image, channels);
 				clahe->apply(channels[0], channels[0]);
 				cv::merge(channels, 3, image);
-				cv::cvtColor(image, image, CV_YCrCb2BGR);
+				cv::cvtColor(image, image, cv::COLOR_YCrCb2BGR);
 			}
 			if(!data.depthRaw().empty())
 			{
@@ -816,11 +815,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i
 				else if(data.rightRaw().type() == CV_8UC3)
 				{
 					cv::Mat channels[3];
-					cv::cvtColor(data.rightRaw(), right, CV_BGR2YCrCb);
+					cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2YCrCb);
 					cv::split(right, channels);
 					clahe->apply(channels[0], channels[0]);
 					cv::merge(channels, 3, right);
-					cv::cvtColor(right, right, CV_YCrCb2BGR);
+					cv::cvtColor(right, right, cv::COLOR_YCrCb2BGR);
 				}
 				data.setStereoImage(image, right, data.stereoCameraModels()[0]);
 			}

corelib/src/StereoCameraModel.cpp

@@ -33,7 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UConversion.h>
 #include <opencv2/imgproc/imgproc.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
 
@@ -179,12 +179,20 @@ void StereoCameraModel::updateStereoRectification()
 	{
 		cv::Vec4d D_left(left_.D_raw().at<double>(0,0), left_.D_raw().at<double>(0,1), left_.D_raw().at<double>(0,4), left_.D_raw().at<double>(0,5));
 		cv::Vec4d D_right(right_.D_raw().at<double>(0,0), right_.D_raw().at<double>(0,1), right_.D_raw().at<double>(0,4), right_.D_raw().at<double>(0,5));
-
+#if CV_MAJOR_VERSION < 5
 		stereoRectifyFisheye(
 				left_.K_raw(), D_left,
 				right_.K_raw(), D_right,
 				left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
 				cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
+#else
+		double balance = 0.0, fov_scale = 1.0;
+		cv::fisheye::stereoRectify(
+				left_.K_raw(), D_left,
+				right_.K_raw(), D_right,
+				left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
+				cv::CALIB_ZERO_DISPARITY, left_.imageSize(), balance, fov_scale);
+#endif
 
 		// Re-zoom to original focal distance
 		if(P1.at<double>(0,0) < 0)

corelib/src/camera/CameraFreenect.cpp

@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UThread.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/core/util2d.h>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_FREENECT
 #include <libfreenect.h>
@@ -183,7 +182,7 @@ private:
 
 		if(color_)
 		{
-			cv::cvtColor(rgbIrBuffer_, rgbIrLastFrame_, CV_RGB2BGR);
+			cv::cvtColor(rgbIrBuffer_, rgbIrLastFrame_, cv::COLOR_RGB2BGR);
 		}
 		else // IrDepth
 		{

corelib/src/camera/CameraFreenect2.cpp

@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UMath.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/core/util2d.h>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_FREENECT2
 #include <libfreenect2/libfreenect2.hpp>
@@ -430,11 +429,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info)
 					cv::Mat rgbMat; // rtabmap uses 3 channels RGB
 					#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT 
 
-					 cv::cvtColor(rgbMatC4, rgbMat, CV_RGBA2BGR);
+					 cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_RGBA2BGR);
 
 					#else 
 
-					cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
+					cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_BGRA2BGR);
 
 					#endif 
 					cv::flip(rgbMat, rgb, 1);
@@ -490,11 +489,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info)
 						cv::Mat rgbMat; // rtabmap uses 3 channels RGB
 						#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT 
 
-						 cv::cvtColor(rgbMatC4, rgbMat, CV_RGB2BGR); 
+						 cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_RGB2BGR); 
 
 						#else 
 
-						cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR); 
+						cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_BGRA2BGR); 
 
 						#endif 
 						cv::flip(rgbMat, rgb, 1);
@@ -607,11 +606,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info)
 							// rtabmap uses 3 channels RGB
 							#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT 
 
-							 cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR); 
+							 cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_RGBA2BGR); 
 
 							#else 
 
-							cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR); 
+							cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_BGRA2BGR); 
 
 							#endif 
 							cv::flip(rgb, rgb, 1);
@@ -629,11 +628,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info)
 							// rtabmap uses 3 channels RGB
 							#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT 
 
-							 cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR); 
+							 cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_RGBA2BGR); 
 
 							#else 
 
-							cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR); 
+							cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_BGRA2BGR); 
 
 							#endif 
 							cv::flip(rgb, rgb, 1);	

corelib/src/camera/CameraImages.cpp

@@ -34,7 +34,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/util3d.h>
 #include <rtabmap/core/util3d_filtering.h>
 #include <rtabmap/core/Graph.h>
-#include <opencv2/imgproc/types_c.h>
+#if CV_MAJOR_VERSION < 5
+#include <opencv2/imgproc/imgproc.hpp>
+#else
+#include <opencv2/imgproc.hpp>
+#endif
 #include <fstream>
 
 namespace rtabmap
@@ -1111,7 +1115,7 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 					{
 						UWARN("Conversion from 4 channels to 3 channels (file=%s)", imageFilePath.c_str());
 						cv::Mat out;
-						cv::cvtColor(img, out, CV_BGRA2BGR);
+						cv::cvtColor(img, out, cv::COLOR_BGRA2BGR);
 						img = out;
 					}
 					else if(!img.empty() && _bayerMode >= 0 && _bayerMode <=3)
@@ -1119,7 +1123,7 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 						cv::Mat debayeredImg;
 						try
 						{
-							cv::cvtColor(img, debayeredImg, CV_BayerBG2BGR + _bayerMode);
+							cv::cvtColor(img, debayeredImg, cv::COLOR_BayerBG2BGR + _bayerMode);
 							img = debayeredImg;
 						}
 						catch(const cv::Exception & e)

corelib/src/camera/CameraK4A.cpp

@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/core/util2d.h>
 #include <rtabmap/core/Compression.h>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_K4A
 #include <k4a/k4a.h>
@@ -508,7 +507,7 @@ SensorData CameraK4A::captureImage(SensorCaptureInfo * info)
 						CV_8UC4,
 						(void*)k4a_image_get_buffer(rgb_image_));
 
-				cv::cvtColor(bgra, bgrCV, CV_BGRA2BGR);
+				cv::cvtColor(bgra, bgrCV, cv::COLOR_BGRA2BGR);
 			}
 			bgrCV = model_.rectifyImage(bgrCV);
 

corelib/src/camera/CameraK4W2.cpp

@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/core/util2d.h>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_K4W2
 #include <Kinect.h>
@@ -486,11 +485,11 @@ SensorData CameraK4W2::captureImage(SensorCaptureInfo * info)
 									{
 										cv::Mat tmp;
 										cv::resize(cv::Mat(nColorHeight, nColorWidth, CV_8UC4, pColorBuffer), tmp, cv::Size(), 0.5, 0.5, cv::INTER_AREA);
-										cv::cvtColor(tmp, imageColor, CV_BGRA2BGR);
+										cv::cvtColor(tmp, imageColor, cv::COLOR_BGRA2BGR);
 									}
 									else
 									{
-										cv::cvtColor(cv::Mat(nColorHeight, nColorWidth, CV_8UC4, pColorBuffer), imageColor, CV_BGRA2BGR);
+										cv::cvtColor(cv::Mat(nColorHeight, nColorWidth, CV_8UC4, pColorBuffer), imageColor, cv::COLOR_BGRA2BGR);
 									}
 									// loop over output pixels
 									for (int depthIndex = 0; depthIndex < (nDepthWidth*nDepthHeight); ++depthIndex)

corelib/src/camera/CameraOpenNI2.cpp

@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/core/util2d.h>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_OPENNI2
 #include <OniVersion.h>
@@ -514,7 +513,7 @@ SensorData CameraOpenNI2::captureImage(SensorCaptureInfo * info)
 				cv::Mat tmp(h, w, CV_8UC3, (void *)colorFrame.getData());
 				if(_type==kTypeColorDepth)
 				{
-					cv::cvtColor(tmp, rgb, CV_RGB2BGR);
+					cv::cvtColor(tmp, rgb, cv::COLOR_RGB2BGR);
 				}
 				else // IR
 				{

corelib/src/camera/CameraOpenNICV.cpp

@@ -26,7 +26,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/camera/CameraOpenNICV.h>
 #include <rtabmap/utilite/UTimer.h>
-#if CV_MAJOR_VERSION > 3
+#if CV_MAJOR_VERSION >= 5
+#include <opencv2/videoio.hpp>
+#elif CV_MAJOR_VERSION > 3
 #include <opencv2/videoio/videoio_c.h>
 #endif
 
@@ -59,30 +61,34 @@ bool CameraOpenNICV::init(const std::string & calibrationFolder, const std::stri
 	}
 
 	ULOGGER_DEBUG("Camera::init()");
-	_capture.open( _asus?CV_CAP_OPENNI_ASUS:CV_CAP_OPENNI );
+#if CV_MAJOR_VERSION < 5
+	_capture.open( _asus?cv::CAP_OPENNI_ASUS:cv::CAP_OPENNI );
+#else
+	_capture.open( _asus?cv::CAP_OPENNI2_ASUS:cv::CAP_OPENNI2 );
+#endif
 	if(_capture.isOpened())
 	{
-		_capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ );
+		_capture.set( cv::CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, cv::CAP_OPENNI_VGA_30HZ );
-		_depthFocal = _capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH );
+		_depthFocal = _capture.get( cv::CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH );
 		// Print some avalible device settings.
 		UINFO("Depth generator output mode:");
-		UINFO("FRAME_WIDTH        %f", _capture.get( CV_CAP_PROP_FRAME_WIDTH ));
+		UINFO("FRAME_WIDTH        %f", _capture.get( cv::CAP_PROP_FRAME_WIDTH ));
-		UINFO("FRAME_HEIGHT       %f", _capture.get( CV_CAP_PROP_FRAME_HEIGHT ));
+		UINFO("FRAME_HEIGHT       %f", _capture.get( cv::CAP_PROP_FRAME_HEIGHT ));
-		UINFO("FRAME_MAX_DEPTH    %f mm", _capture.get( CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH ));
+		UINFO("FRAME_MAX_DEPTH    %f mm", _capture.get( cv::CAP_PROP_OPENNI_FRAME_MAX_DEPTH ));
-		UINFO("BASELINE           %f mm", _capture.get( CV_CAP_PROP_OPENNI_BASELINE ));
+		UINFO("BASELINE           %f mm", _capture.get( cv::CAP_PROP_OPENNI_BASELINE ));
-		UINFO("FPS                %f", _capture.get( CV_CAP_PROP_FPS ));
+		UINFO("FPS                %f", _capture.get( cv::CAP_PROP_FPS ));
-		UINFO("Focal              %f", _capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ));
+		UINFO("Focal              %f", _capture.get( cv::CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ));
-		UINFO("REGISTRATION       %f", _capture.get( CV_CAP_PROP_OPENNI_REGISTRATION ));
+		UINFO("REGISTRATION       %f", _capture.get( cv::CAP_PROP_OPENNI_REGISTRATION ));
-		if(_capture.get( CV_CAP_PROP_OPENNI_REGISTRATION ) == 0.0)
+		if(_capture.get( cv::CAP_PROP_OPENNI_REGISTRATION ) == 0.0)
 		{
 			UERROR("Depth registration is not activated on this device!");
 		}
-		if( _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) )
+		if( _capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) )
 		{
 			UINFO("Image generator output mode:");
-			UINFO("FRAME_WIDTH    %f", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH ));
+			UINFO("FRAME_WIDTH    %f", _capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR+cv::CAP_PROP_FRAME_WIDTH ));
-			UINFO("FRAME_HEIGHT   %f", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT ));
+			UINFO("FRAME_HEIGHT   %f", _capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR+cv::CAP_PROP_FRAME_HEIGHT ));
-			UINFO("FPS            %f", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS ));
+			UINFO("FPS            %f", _capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR+cv::CAP_PROP_FPS ));
 		}
 		else
 		{
@@ -112,8 +118,8 @@ SensorData CameraOpenNICV::captureImage(SensorCaptureInfo * info)
 	{
 		_capture.grab();
 		cv::Mat depth, rgb;
-		_capture.retrieve(depth, CV_CAP_OPENNI_DEPTH_MAP );
+		_capture.retrieve(depth, cv::CAP_OPENNI_DEPTH_MAP );
-		_capture.retrieve(rgb, CV_CAP_OPENNI_BGR_IMAGE );
+		_capture.retrieve(rgb, cv::CAP_OPENNI_BGR_IMAGE );
 
 		depth = depth.clone();
 		rgb = rgb.clone();

corelib/src/camera/CameraOpenni.cpp

@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/utilite/UTimer.h>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_OPENNI
 #include <pcl/io/openni_grabber.h>
@@ -94,7 +93,7 @@ void CameraOpenni::image_cb (
 
 	cv::Mat rgbFrame(rgb->getHeight(), rgb->getWidth(), CV_8UC3);
 	rgb->fillRGB(rgb->getWidth(), rgb->getHeight(), rgbFrame.data);
-	cv::cvtColor(rgbFrame, rgb_, CV_RGB2BGR);
+	cv::cvtColor(rgbFrame, rgb_, cv::COLOR_RGB2BGR);
 
 	depth_ = cv::Mat(rgb->getHeight(), rgb->getWidth(), CV_16UC1);
 	depth->fillDepthImageRaw(rgb->getWidth(), rgb->getHeight(), (unsigned short*)depth_.data);

corelib/src/camera/CameraRealSense.cpp

@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UMath.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/core/util2d.h>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_REALSENSE
 #include <librealsense/rs.hpp>
@@ -938,7 +937,7 @@ SensorData CameraRealSense::captureImage(SensorCaptureInfo * info)
 		}
 		else
 		{
-			cv::cvtColor(rgb, bgr, CV_RGB2BGR);
+			cv::cvtColor(rgb, bgr, cv::COLOR_RGB2BGR);
 		}
 
 		bool rectified = false;

corelib/src/camera/CameraRealSense2.cpp

@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UDirectory.h>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_REALSENSE2
 #include <librealsense2/rsutil.h>
@@ -1440,7 +1439,7 @@ SensorData CameraRealSense2::captureImage(SensorCaptureInfo * info)
 				cv::Mat bgr;
 				if(rgb.channels() == 3)
 				{
-					cv::cvtColor(rgb, bgr, CV_RGB2BGR);
+					cv::cvtColor(rgb, bgr, cv::COLOR_RGB2BGR);
 				}
 				else
 				{

corelib/src/camera/CameraStereoDC1394.cpp

@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraStereoDC1394.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UConversion.h>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_DC1394
 #include <dc1394/dc1394.h>
@@ -295,8 +294,8 @@ public:
 
 			//DC1394_COLOR_CODING_RAW16:
 			//DC1394_COLOR_FILTER_BGGR
-			cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer), left, CV_BayerRG2BGR);
+			cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer), left, cv::COLOR_BayerRG2BGR);
-			cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer+image.total()), right, CV_BayerRG2GRAY);
+			cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer+image.total()), right, cv::COLOR_BayerRG2GRAY);
 
 			dc1394_capture_enqueue(camera_, frame);
 

corelib/src/camera/CameraStereoImages.cpp

@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UConversion.h>
-#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap
 {
@@ -339,7 +338,7 @@ SensorData CameraStereoImages::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;
 		}
 

corelib/src/camera/CameraStereoTara.cpp

@@ -34,7 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/utilite/UConversion.h>
-#if CV_MAJOR_VERSION > 3
+#if CV_MAJOR_VERSION > 4
+#include <opencv2/videoio.hpp>
+#elif CV_MAJOR_VERSION > 3
 #include <opencv2/videoio/videoio_c.h>
 #endif
 
@@ -81,18 +83,18 @@ bool CameraStereoTara::init(const std::string & calibrationFolder, const std::st
 
 		capture_.open(usbDevice_);
 
-		capture_.set(CV_CAP_PROP_FOURCC, CV_FOURCC('Y', '1', '6', ' '));
+		capture_.set(cv::CAP_PROP_FOURCC, CV_FOURCC('Y', '1', '6', ' '));
-		capture_.set(CV_CAP_PROP_FPS, 60);
+		capture_.set(cv::CAP_PROP_FPS, 60);
-		capture_.set(CV_CAP_PROP_FRAME_WIDTH, 752);
+		capture_.set(cv::CAP_PROP_FRAME_WIDTH, 752);
-		capture_.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
+		capture_.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
-		capture_.set(CV_CAP_PROP_CONVERT_RGB,false);
+		capture_.set(cv::CAP_PROP_CONVERT_RGB,false);
 
 		ULOGGER_DEBUG("CameraStereoTara: Usb device initialization on device %d", usbDevice_);
 
 
 	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);

corelib/src/camera/CameraStereoVideo.cpp

@@ -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>
+#include <opencv2/videoio.hpp>
-#endif
+#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 = 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 = 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_WIDTH, stereoModel_.right().imageWidth());
-					resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight());
+					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 actualWidth = int(capture_.get(cv::CAP_PROP_FRAME_WIDTH));
-				int actualHeight = int(capture_.get(CV_CAP_PROP_FRAME_HEIGHT));
+				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 = capture_.set(cv::CAP_PROP_FRAME_WIDTH, _width*(capture2_.isOpened()?1:2));
-				resolutionSet = resolutionSet && capture_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
+				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_WIDTH, _width);
-					resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
+					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 actualWidth = int(capture_.get(cv::CAP_PROP_FRAME_WIDTH));
-				int actualHeight = int(capture_.get(CV_CAP_PROP_FRAME_HEIGHT));
+				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;
 		}

corelib/src/camera/CameraStereoZedOC.cpp

@@ -38,6 +38,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <zed-open-capture/sensorcapture.hpp>
 #include "SimpleIni.h"
 
+#if CV_MAJOR_VERSION >= 5
+#include <opencv2/geometry.hpp>
+#endif
+
 ///////////////////////////////////////////////////////////////////////////
 //
 // Copyright (c) 2018, STEREOLABS.

corelib/src/camera/CameraVideo.cpp

@@ -28,11 +28,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraVideo.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UConversion.h>
-#if CV_MAJOR_VERSION > 3
-#include <opencv2/videoio/videoio_c.h>
 #if CV_MAJOR_VERSION > 4
-#include <opencv2/videoio/legacy/constants_c.h>
+#include <opencv2/videoio.hpp>
-#endif
+#elif CV_MAJOR_VERSION > 3
+#include <opencv2/videoio/videoio_c.h>
 #endif
 
 namespace rtabmap
@@ -105,7 +104,7 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 	{
 		if (_guid.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)
 			{
 				_guid = uFormat("%08x", guid);
@@ -143,12 +142,12 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 				}
 
 				bool resolutionSet = false;
-				resolutionSet = _capture.set(CV_CAP_PROP_FRAME_WIDTH, _model.imageWidth());
+				resolutionSet = _capture.set(cv::CAP_PROP_FRAME_WIDTH, _model.imageWidth());
-				resolutionSet = resolutionSet && _capture.set(CV_CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
+				resolutionSet = resolutionSet && _capture.set(cv::CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
 
 				// Check if the resolution was set successfully
-				int actualWidth = int(_capture.get(CV_CAP_PROP_FRAME_WIDTH));
+				int actualWidth = int(_capture.get(cv::CAP_PROP_FRAME_WIDTH));
-				int actualHeight = int(_capture.get(CV_CAP_PROP_FRAME_HEIGHT));
+				int actualHeight = int(_capture.get(cv::CAP_PROP_FRAME_HEIGHT));
 				if(!resolutionSet ||
 				   actualWidth != _model.imageWidth() ||
 				   actualHeight != _model.imageHeight())
@@ -165,12 +164,12 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 			else if(_width > 0 && _height > 0)
 			{
 				int resolutionSet = false;
-				resolutionSet = _capture.set(CV_CAP_PROP_FRAME_WIDTH, _width);
+				resolutionSet = _capture.set(cv::CAP_PROP_FRAME_WIDTH, _width);
-				resolutionSet = resolutionSet && _capture.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
+				resolutionSet = resolutionSet && _capture.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 actualWidth = int(_capture.get(cv::CAP_PROP_FRAME_WIDTH));
-				int actualHeight = int(_capture.get(CV_CAP_PROP_FRAME_HEIGHT));
+				int actualHeight = int(_capture.get(cv::CAP_PROP_FRAME_HEIGHT));
 				if(!resolutionSet || actualWidth != _width || actualHeight != _height)
 				{
 					UWARN("Desired resolution (%dx%d) cannot be set to camera driver, "
@@ -182,7 +181,7 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 			}
 
 			// Set FPS
-			if (this->getFrameRate() > 0 && _capture.set(CV_CAP_PROP_FPS, this->getFrameRate()))
+			if (this->getFrameRate() > 0 && _capture.set(cv::CAP_PROP_FPS, this->getFrameRate()))
 			{
 				// Check if the FPS was set successfully
 				double actualFPS = _capture.get(cv::CAP_PROP_FPS);
@@ -213,10 +212,10 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 					std::string fourccUpperCase = uToUpperCase(_fourcc);
 					int fourcc = cv::VideoWriter::fourcc(fourccUpperCase.at(0), fourccUpperCase.at(1), fourccUpperCase.at(2), fourccUpperCase.at(3));
 					
-					bool fourccSupported = _capture.set(CV_CAP_PROP_FOURCC, fourcc);
+					bool fourccSupported = _capture.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)
 					{

corelib/src/odometry/OdometryDVO.cpp

@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UStl.h"
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_DVO
 #include <dvo/dense_tracking.h>
@@ -124,7 +123,7 @@ Transform OdometryDVO::computeTransform(
 	{
 		if(data.imageRaw().type() == CV_8UC3)
 		{
-			cv::cvtColor(data.imageRaw(), grey, CV_BGR2GRAY);
+			cv::cvtColor(data.imageRaw(), grey, cv::COLOR_BGR2GRAY);
 		}
 		else
 		{

corelib/src/odometry/OdometryF2M.cpp

@@ -42,7 +42,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UMath.h"
 #include "rtabmap/utilite/UConversion.h"
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/calib3d/calib3d.hpp>
+#else
+#include <opencv2/geometry.hpp>
+#endif
 #include <rtabmap/core/odometry/OdometryF2M.h>
 #include <pcl/common/io.h>
 

corelib/src/odometry/OdometryFovis.cpp

@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UStl.h"
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_FOVIS
 #include <libfovis/fovis.hpp>
@@ -137,7 +136,7 @@ Transform OdometryFovis::computeTransform(
 	cv::Mat gray;
 	if(data.imageRaw().type() == CV_8UC3)
 	{
-		cv::cvtColor(data.imageRaw(), gray, CV_BGR2GRAY);
+		cv::cvtColor(data.imageRaw(), gray, cv::COLOR_BGR2GRAY);
 	}
 	else if(data.imageRaw().type() == CV_8UC1)
 	{
@@ -302,7 +301,7 @@ Transform OdometryFovis::computeTransform(
 		}
 		if(data.rightRaw().type() == CV_8UC3)
 		{
-			cv::cvtColor(data.rightRaw(), right, CV_BGR2GRAY);
+			cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2GRAY);
 		}
 		else if(data.rightRaw().type() == CV_8UC1)
 		{

corelib/src/odometry/OdometryMSCKF.cpp

@@ -32,7 +32,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UStl.h"
 #include "rtabmap/utilite/UThread.h"
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_MSCKF_VIO
 #include <msckf_vio/image_processor.h>
@@ -867,7 +866,7 @@ Transform OdometryMSCKF::computeTransform(
 
 			if(data.imageRaw().type() == CV_8UC3)
 			{
-				cv::cvtColor(data.imageRaw(), cam0.image, CV_BGR2GRAY);
+				cv::cvtColor(data.imageRaw(), cam0.image, cv::COLOR_BGR2GRAY);
 			}
 			else
 			{
@@ -875,7 +874,7 @@ Transform OdometryMSCKF::computeTransform(
 			}
 			if(data.rightRaw().type() == CV_8UC3)
 			{
-				cv::cvtColor(data.rightRaw(), cam1.image, CV_BGR2GRAY);
+				cv::cvtColor(data.rightRaw(), cam1.image, cv::COLOR_BGR2GRAY);
 			}
 			else
 			{

corelib/src/odometry/OdometryMono.cpp

@@ -43,7 +43,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UStl.h"
 #include "rtabmap/utilite/UMath.h"
 #include <opencv2/imgproc/imgproc.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/calib3d/calib3d.hpp>
+#else
+#include <opencv2/geometry.hpp>
+#endif
 #include <opencv2/video/tracking.hpp>
 #include <pcl/common/centroid.h>
 

corelib/src/odometry/OdometryORBSLAM2.cpp

@@ -33,7 +33,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UStl.h"
 #include "rtabmap/utilite/UDirectory.h"
 #include <pcl/common/transforms.h>
-#include <opencv2/imgproc/types_c.h>
 #include <rtabmap/core/odometry/OdometryORBSLAM2.h>
 
 #if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 2
@@ -426,7 +425,7 @@ public:
 	        }
 	        else
 	        {
-	            cvtColor(mImGray,mImGray,CV_BGR2GRAY);
+	            cvtColor(mImGray,mImGray,cv::COLOR_BGR2GRAY);
 	        }
 	    }
 	    else if(mImGray.channels()==4)
@@ -437,7 +436,7 @@ public:
 	        }
 	        else
 	        {
-	            cvtColor(mImGray,mImGray,CV_BGRA2GRAY);
+	            cvtColor(mImGray,mImGray,cv::COLOR_BGRA2GRAY);
 	        }
 	    }
 	    if(imGrayRight.channels()==3)
@@ -448,7 +447,7 @@ public:
 			}
 			else
 			{
-				cvtColor(imGrayRight,imGrayRight,CV_BGR2GRAY);
+				cvtColor(imGrayRight,imGrayRight,cv::COLOR_BGR2GRAY);
 			}
 		}
 		else if(imGrayRight.channels()==4)
@@ -459,7 +458,7 @@ public:
 			}
 			else
 			{
-				cvtColor(imGrayRight,imGrayRight,CV_BGRA2GRAY);
+				cvtColor(imGrayRight,imGrayRight,cv::COLOR_BGRA2GRAY);
 			}
 		}
 
@@ -480,14 +479,14 @@ public:
 	        if(mbRGB)
 	            cvtColor(mImGray,mImGray,CV_RGB2GRAY);
 	        else
-	            cvtColor(mImGray,mImGray,CV_BGR2GRAY);
+	            cvtColor(mImGray,mImGray,cv::COLOR_BGR2GRAY);
 	    }
 	    else if(mImGray.channels()==4)
 	    {
 	        if(mbRGB)
 	            cvtColor(mImGray,mImGray,CV_RGBA2GRAY);
 	        else
-	            cvtColor(mImGray,mImGray,CV_BGRA2GRAY);
+	            cvtColor(mImGray,mImGray,cv::COLOR_BGRA2GRAY);
 	    }
 
 	    UASSERT(imDepth.type()==CV_32F);

corelib/src/odometry/OdometryORBSLAM3.cpp

@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UDirectory.h"
 #include "rtabmap/utilite/UFile.h"
 #include <pcl/common/transforms.h>
-#include <opencv2/imgproc/types_c.h>
 #include <rtabmap/core/odometry/OdometryORBSLAM3.h>
 
 #if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 3
@@ -469,12 +468,12 @@ Transform OdometryORBSLAM3::computeTransform(
 		cv::Mat leftMono = data.imageRaw();
         if(data.imageRaw().channels() == 3) {
 			leftMono = cv::Mat();
-			cv::cvtColor(data.imageRaw(), leftMono, CV_BGR2GRAY);
+			cv::cvtColor(data.imageRaw(), leftMono, cv::COLOR_BGR2GRAY);
 		}
 		cv::Mat rightMono = data.rightRaw();
         if(data.rightRaw().channels() == 3) {
 			rightMono = cv::Mat();
-			cv::cvtColor(data.imageRaw(), rightMono, CV_BGR2GRAY);
+			cv::cvtColor(data.imageRaw(), rightMono, cv::COLOR_BGR2GRAY);
 		}
 		UDEBUG("Adding Stereo Frame %f", data.stamp());
 		Tcw = orbslam_->TrackStereo(leftMono, rightMono, data.stamp(), orbslamImus_);

corelib/src/odometry/OdometryOkvis.cpp

@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UThread.h"
 #include "rtabmap/utilite/UFile.h"
 #include "rtabmap/utilite/UDirectory.h"
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_OKVIS
 #include <iostream>
@@ -427,7 +426,7 @@ Transform OdometryOkvis::computeTransform(
 				cv::Mat gray;
 				if(images[i].type() == CV_8UC3)
 				{
-					cv::cvtColor(images[i], gray, CV_BGR2GRAY);
+					cv::cvtColor(images[i], gray, cv::COLOR_BGR2GRAY);
 				}
 				else if(images[i].type() == CV_8UC1)
 				{

corelib/src/odometry/OdometryOpenVINS.cpp

@@ -32,7 +32,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UTimer.h"
 #include <opencv2/core/eigen.hpp>
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_OPENVINS
 #include "core/VioManager.h"
@@ -419,7 +418,7 @@ Transform OdometryOpenVINS::computeTransform(
 
 			cv::Mat image;
 			if(data.imageRaw().type() == CV_8UC3)
-				cv::cvtColor(data.imageRaw(), image, CV_BGR2GRAY);
+				cv::cvtColor(data.imageRaw(), image, cv::COLOR_BGR2GRAY);
 			else if(data.imageRaw().type() == CV_8UC1)
 				image = data.imageRaw().clone();
 			else
@@ -450,7 +449,7 @@ Transform OdometryOpenVINS::computeTransform(
 			if(!data.rightRaw().empty())
 			{
 				if(data.rightRaw().type() == CV_8UC3)
-					cv::cvtColor(data.rightRaw(), image, CV_BGR2GRAY);
+					cv::cvtColor(data.rightRaw(), image, cv::COLOR_BGR2GRAY);
 				else if(data.rightRaw().type() == CV_8UC1)
 					image = data.rightRaw().clone();
 				else

corelib/src/odometry/OdometryVINSFusion.cpp

@@ -33,7 +33,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UStl.h"
 #include "rtabmap/utilite/UThread.h"
 #include "rtabmap/utilite/UDirectory.h"
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_VINS_FUSION
 #include <estimator/estimator.h>
@@ -444,7 +443,7 @@ Transform OdometryVINSFusion::computeTransform(
 		cv::Mat right;
 		if(data.imageRaw().type() == CV_8UC3)
 		{
-			cv::cvtColor(data.imageRaw(), left, CV_BGR2GRAY);
+			cv::cvtColor(data.imageRaw(), left, cv::COLOR_BGR2GRAY);
 		}
 		else if(data.imageRaw().type() == CV_8UC1)
 		{
@@ -456,7 +455,7 @@ Transform OdometryVINSFusion::computeTransform(
 		}
 		if(data.rightRaw().type() == CV_8UC3)
 		{
-			cv::cvtColor(data.rightRaw(), right, CV_BGR2GRAY);
+			cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2GRAY);
 		}
 		else if(data.rightRaw().type() == CV_8UC1)
 		{

corelib/src/odometry/OdometryViso2.cpp

@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UStl.h"
-#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_VISO2
 #include <viso_stereo.h>
@@ -131,7 +130,7 @@ Transform OdometryViso2::computeTransform(
 	cv::Mat leftGray;
 	if(data.imageRaw().type() == CV_8UC3)
 	{
-		cv::cvtColor(data.imageRaw(), leftGray, CV_BGR2GRAY);
+		cv::cvtColor(data.imageRaw(), leftGray, cv::COLOR_BGR2GRAY);
 	}
 	else if(data.imageRaw().type() == CV_8UC1)
 	{
@@ -144,7 +143,7 @@ Transform OdometryViso2::computeTransform(
 	cv::Mat rightGray;
 	if(data.rightRaw().type() == CV_8UC3)
 	{
-		cv::cvtColor(data.rightRaw(), rightGray, CV_BGR2GRAY);
+		cv::cvtColor(data.rightRaw(), rightGray, cv::COLOR_BGR2GRAY);
 	}
 	else if(data.rightRaw().type() == CV_8UC1)
 	{

corelib/src/opencv/ORBextractor.cc

@@ -64,7 +64,11 @@
 
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <opencv2/imgproc/imgproc.hpp>
 #include <vector>
 #include <algorithm>

corelib/src/opencv/ORBextractor.h

@@ -31,8 +31,6 @@
 
 #include <vector>
 #include <list>
-#include <opencv2/core/core_c.h>
-
 
 namespace rtabmap
 {

corelib/src/opencv/Orb.cpp

@@ -752,7 +752,7 @@ void CV_ORB::operator()( InputArray _image, InputArray _mask, std::vector<KeyPoi
 
     Mat image = _image.getMat(), mask = _mask.getMat();
     if( image.type() != CV_8UC1 )
-        cvtColor(_image, image, CV_BGR2GRAY);
+        cvtColor(_image, image, cv::COLOR_BGR2GRAY);
 
     int levelsNum = this->nlevels;
 

corelib/src/opencv/five-point.h

@@ -8,6 +8,10 @@
 #ifndef CORELIB_SRC_OPENCV_FIVE_POINT_H_
 #define CORELIB_SRC_OPENCV_FIVE_POINT_H_
 
+#if CV_MAJOR_VERSION > 4
+#include <opencv2/geometry.hpp>
+#endif
+
 namespace cv3
 {
 

corelib/src/opencv/solvepnp.cpp

@@ -53,7 +53,7 @@ class PnPRansacCallback : public PointSetRegistrator::Callback
 
 public:
 
-    PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=CV_ITERATIVE,
+    PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::SOLVEPNP_ITERATIVE,
             bool _useExtrinsicGuess=false, Mat _rvec=Mat(), Mat _tvec=Mat() )
         : cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), flags(_flags), useExtrinsicGuess(_useExtrinsicGuess),
           rvec(_rvec), tvec(_tvec) {}
@@ -142,12 +142,12 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
 
     int model_points = 6;
-    int ransac_kernel_method = CV_EPNP;
+    int ransac_kernel_method = cv::SOLVEPNP_EPNP;
 
     if( npoints == 4 )
     {
         model_points = 4;
-        ransac_kernel_method = CV_P3P;
+        ransac_kernel_method = cv::SOLVEPNP_P3P;
     }
 
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
@@ -178,7 +178,7 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
         opoints_inliers.resize(npoints1);
         ipoints_inliers.resize(npoints1);
         result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix,
-                          distCoeffs, rvec, tvec, useExtrinsicGuess, flags == CV_P3P ? CV_EPNP : flags) ? 1 : -1;
+                          distCoeffs, rvec, tvec, useExtrinsicGuess, flags == cv::SOLVEPNP_P3P ? cv::SOLVEPNP_EPNP : flags) ? 1 : -1;
     }
 
     if( result <= 0 || _local_model.rows <= 0)
@@ -213,7 +213,11 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
 int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters )
 {
     if( modelPoints <= 0 )
+#if CV_MAJOR_VERSION < 5
         CV_Error( 0, "the number of model points should be positive" );
+#else
+        CV_Error( cv::Error::Code::StsBadArg, "the number of model points should be positive" );
+#endif
 
     p = MAX(p, 0.);
     p = MIN(p, 1.);

corelib/src/opencv/solvepnp.h

@@ -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 );
 

corelib/src/stereo/StereoBM.cpp

@@ -27,9 +27,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/stereo/StereoBM.h>
 #include <rtabmap/utilite/ULogger.h>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/calib3d/calib3d.hpp>
+#else
+#include <opencv2/stereo.hpp>
+#include <opencv2/geometry.hpp>
+#endif
 #include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap {
 
@@ -88,7 +92,7 @@ cv::Mat StereoBM::computeDisparity(
 	cv::Mat leftMono;
 	if(leftImage.channels() == 3)
 	{
-		cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
+		cv::cvtColor(leftImage, leftMono, cv::COLOR_BGR2GRAY);
 	}
 	else
 	{
@@ -98,7 +102,7 @@ cv::Mat StereoBM::computeDisparity(
 	cv::Mat rightMono;
 	if(rightImage.channels() == 3)
 	{
-		cv::cvtColor(rightImage, rightMono, CV_BGR2GRAY);
+		cv::cvtColor(rightImage, rightMono, cv::COLOR_BGR2GRAY);
 	}
 	else
 	{

corelib/src/stereo/StereoSGBM.cpp

@@ -27,9 +27,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/stereo/StereoSGBM.h>
 #include <rtabmap/utilite/ULogger.h>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/calib3d/calib3d.hpp>
+#else
+#include <opencv2/stereo.hpp>
+#include <opencv2/geometry.hpp>
+#endif
 #include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap {
 
@@ -77,7 +81,7 @@ cv::Mat StereoSGBM::computeDisparity(
 	cv::Mat leftMono;
 	if(leftImage.channels() == 3)
 	{
-		cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
+		cv::cvtColor(leftImage, leftMono, cv::COLOR_BGR2GRAY);
 	}
 	else
 	{
@@ -87,7 +91,7 @@ cv::Mat StereoSGBM::computeDisparity(
 	cv::Mat rightMono;
 	if(rightImage.channels() == 3)
 	{
-		cv::cvtColor(rightImage, rightMono, CV_BGR2GRAY);
+		cv::cvtColor(rightImage, rightMono, cv::COLOR_BGR2GRAY);
 	}
 	else
 	{

corelib/src/util2d.cpp

@@ -34,11 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/core/util3d_transforms.h>
 #include <rtabmap/core/StereoDense.h>
-#include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/video/tracking.hpp>
 #include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/types_c.h>
 #include <map>
 #include <Eigen/Core>
 
@@ -46,6 +44,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opencv2/photo/photo.hpp>
 #endif
 
+#if CV_MAJOR_VERSION < 5
+#include <opencv2/calib3d/calib3d.hpp>
+#else
+#include <opencv2/geometry.hpp>
+#endif
+
 namespace rtabmap
 {
 
@@ -747,7 +751,7 @@ cv::Mat disparityFromStereoImages(
 	cv::Mat leftMono;
 	if(leftImage.channels() == 3)
 	{
-		cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
+		cv::cvtColor(leftImage, leftMono, cv::COLOR_BGR2GRAY);
 	}
 	else
 	{
@@ -2042,8 +2046,8 @@ cv::Mat brightnessAndContrastAuto(const cv::Mat &src, const cv::Mat & mask, floa
     //to calculate grayscale histogram
     cv::Mat gray;
     if (src.type() == CV_8UC1) gray = src;
-    else if (src.type() == CV_8UC3) cvtColor(src, gray, CV_BGR2GRAY);
+    else if (src.type() == CV_8UC3) cvtColor(src, gray, cv::COLOR_BGR2GRAY);
-    else if (src.type() == CV_8UC4) cvtColor(src, gray, CV_BGRA2GRAY);
+    else if (src.type() == CV_8UC4) cvtColor(src, gray, cv::COLOR_BGRA2GRAY);
     if (clipLowHistPercent == 0 && clipHighHistPercent == 0)
     {
         // keep full available range

corelib/src/util3d.cpp

@@ -41,7 +41,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/common/transforms.h>
 #include <pcl/common/common.h>
 #include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap
 {
@@ -892,7 +891,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
 	cv::Mat leftMono;
 	if(leftColor.channels() == 3)
 	{
-		cv::cvtColor(leftColor, leftMono, CV_BGR2GRAY);
+		cv::cvtColor(leftColor, leftMono, cv::COLOR_BGR2GRAY);
 	}
 	else
 	{
@@ -902,7 +901,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
 	cv::Mat rightMono;
 	if(rightColor.channels() == 3)
 	{
-		cv::cvtColor(rightColor, rightMono, CV_BGR2GRAY);
+		cv::cvtColor(rightColor, rightMono, cv::COLOR_BGR2GRAY);
 	}
 	else
 	{
@@ -1038,7 +1037,7 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloudsFromSensorData(
 		cv::Mat leftMono;
 		if(sensorData.imageRaw().channels() == 3)
 		{
-			cv::cvtColor(sensorData.imageRaw(), leftMono, CV_BGR2GRAY);
+			cv::cvtColor(sensorData.imageRaw(), leftMono, cv::COLOR_BGR2GRAY);
 		}
 		else
 		{
@@ -1048,7 +1047,7 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloudsFromSensorData(
 		cv::Mat rightMono;
 		if(sensorData.rightRaw().channels() == 3)
 		{
-			cv::cvtColor(sensorData.rightRaw(), rightMono, CV_BGR2GRAY);
+			cv::cvtColor(sensorData.rightRaw(), rightMono, cv::COLOR_BGR2GRAY);
 		}
 		else
 		{

corelib/src/util3d_correspondences.cpp

@@ -30,7 +30,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/core/EpipolarGeometry.h>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/calib3d/calib3d.hpp>
+#else
+#include <opencv2/geometry.hpp>
+#endif
 #include <pcl/search/kdtree.h>
 #include <pcl/common/point_tests.h>
 

corelib/src/util3d_surface.cpp

@@ -39,8 +39,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UConversion.h"
 #include "rtabmap/utilite/UMath.h"
 #include "rtabmap/utilite/UTimer.h"
-#include <opencv2/core/core_c.h>
-#include <opencv2/imgproc/types_c.h>
 #include <pcl/search/kdtree.h>
 #include <pcl/surface/gp3.h>
 #include <pcl/features/normal_3d_omp.h>
@@ -1745,7 +1743,7 @@ cv::Mat mergeTextures(
 							if(resizedImage.type() == CV_8UC1)
 							{
 								cv::Mat resizedImageColor;
-								cv::cvtColor(resizedImage, resizedImageColor, CV_GRAY2BGR);
+								cv::cvtColor(resizedImage, resizedImageColor, cv::COLOR_GRAY2BGR);
 								resizedImage = resizedImageColor;
 							}
 							UASSERT(resizedImage.type() == globalTextures.type());
@@ -2609,7 +2607,7 @@ bool multiBandTexturing(
 				if(imageRoi.channels() == 1)
 				{
 					cv::Mat imageRoiColor;
-					cv::cvtColor(imageRoi, imageRoiColor, CV_GRAY2BGR);
+					cv::cvtColor(imageRoi, imageRoiColor, cv::COLOR_GRAY2BGR);
 					imageRoi = imageRoiColor;
 				}
 
@@ -3218,7 +3216,7 @@ float computeNormalsComplexity(
 		}
 		if(oi>1)
 		{
-			cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW);
+			cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW);
 
 			if(pcaEigenVectors)
 			{
@@ -3279,7 +3277,7 @@ float computeNormalsComplexity(
 	}
 	if(oi>1)
 	{
-		cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW);
+		cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW);
 
 		if(pcaEigenVectors)
 		{
@@ -3335,7 +3333,7 @@ float computeNormalsComplexity(
 	}
 	if(oi>1)
 	{
-		cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW);
+		cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW);
 
 		if(pcaEigenVectors)
 		{
@@ -3391,7 +3389,7 @@ float computeNormalsComplexity(
 	}
 	if(oi>1)
 	{
-		cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW);
+		cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW);
 
 		if(pcaEigenVectors)
 		{
@@ -3447,7 +3445,7 @@ float computeNormalsComplexity(
 	}
 	if(oi>1)
 	{
-		cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW);
+		cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW);
 
 		if(pcaEigenVectors)
 		{

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -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

@@ -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

@@ -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

@@ -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);
-
+#else
-			// Very hard to get good results with this one:
+			// 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;
+			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

@@ -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

@@ -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

@@ -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).",
+					if(chown(path.toStdString().c_str(), uid, gid) != 0)
-							filePath.toStdString().c_str(), (int)uid, strerror(errno));
+					{
+						UWARN("Could not restore ownership of \"%s\" to uid=%d (%s).",
+								path.toStdString().c_str(), (int)uid, strerror(errno));
+					}
 				}
-			}
+			};
-			QString dir = QFileInfo(filePath).absolutePath();
+			restoreOwnership(filePath);
-			if(!dir.isEmpty())
+			restoreOwnership(QFileInfo(filePath).absolutePath());
-			{
-				chown(dir.toStdString().c_str(), uid, gid);
-			}
 		}
 	}
 #else

tools/Camera/main.cpp

@@ -32,7 +32,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UDirectory.h"
 #include "rtabmap/utilite/UConversion.h"
 #include <opencv2/highgui/highgui.hpp>
-#include <opencv2/highgui/highgui_c.h>
 #include <stdio.h>
 
 void showUsage()
@@ -178,7 +177,7 @@ int main(int argc, char * argv[])
 
 	cv::Mat rgb;
 	rgb = camera->takeImage().imageRaw();
-	cv::namedWindow("Video", CV_WINDOW_AUTOSIZE); // create window
+	cv::namedWindow("Video", cv::WINDOW_AUTOSIZE); // create window
 	while(!rgb.empty())
 	{
 		cv::imshow("Video", rgb); // show frame

tools/CameraRGBD/main.cpp

@@ -40,8 +40,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UEventsManager.h"
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/imgproc/types_c.h>
+#if CV_MAJOR_VERSION >= 5
-#if CV_MAJOR_VERSION >= 3
+#include <opencv2/videoio.hpp>
+#elif CV_MAJOR_VERSION >= 3
 #include <opencv2/videoio/videoio_c.h>
 #endif
 #include <pcl/visualization/cloud_viewer.h>
@@ -470,7 +471,7 @@ int main(int argc, char * argv[])
 				{
 					if(right.channels() == 3)
 					{
-						cv::cvtColor(right, right, CV_BGR2GRAY);
+						cv::cvtColor(right, right, cv::COLOR_BGR2GRAY);
 					}
 					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(
 							rgb, right,

tools/EpipolarGeometry/main.cpp

@@ -26,7 +26,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
 #include <opencv2/core/core.hpp>
-#include <opencv2/core/types_c.h>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <iostream>
@@ -36,7 +35,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UDirectory.h>
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UMath.h>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/calib3d/calib3d.hpp>
+#else
+#include <opencv2/geometry.hpp>
+#endif
 #include "rtabmap/core/Features2d.h"
 #include "rtabmap/core/EpipolarGeometry.h"
 #include "rtabmap/core/VWDictionary.h"

tools/StereoEval/main.cpp

@@ -37,7 +37,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UMath.h>
-#include <opencv2/imgproc/types_c.h>
 #include <fstream>
 #include <string>
 
@@ -222,7 +221,7 @@ int main(int argc, char * argv[])
 		cv::Mat leftMono;
 		if(left.channels() == 3)
 		{
-			cv::cvtColor(left, leftMono, CV_BGR2GRAY);
+			cv::cvtColor(left, leftMono, cv::COLOR_BGR2GRAY);
 		}
 		else
 		{
@@ -231,7 +230,7 @@ int main(int argc, char * argv[])
 		cv::Mat rightMono;
 		if(right.channels() == 3)
 		{
-			cv::cvtColor(right, rightMono, CV_BGR2GRAY);
+			cv::cvtColor(right, rightMono, cv::COLOR_BGR2GRAY);
 		}
 		else
 		{
@@ -266,7 +265,7 @@ int main(int argc, char * argv[])
 			cv::cornerSubPix(leftMono, leftCorners,
 				cv::Size( subPixWinSize, subPixWinSize ),
 				cv::Size( -1, -1 ),
-				cv::TermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, subPixIterations, subPixEps ) );
+				cv::TermCriteria( cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, subPixIterations, subPixEps ) );
 			UDEBUG("cv::cornerSubPix() end");
 		}