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Confirmed stereo calibration with fisheye works. Fix camera start/top progress dialog not drawn. Opencv >=4.7 using new opencv's ArucoDetector class.

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matlabbe
2026-07-12 19:56:59 -07:00
parent b80f5c68d0
commit 40925a3200
10 changed files with 309 additions and 108 deletions
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CMakeLists.txt
+9 -4
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@@ -246,7 +246,8 @@ set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
# find_package(RTABMap) requests the same components this build used.
SET(RTABMAP_OpenCV_COMPONENTS_5 core imgproc highgui stitching photo video videoio calib geometry)
SET(RTABMAP_OpenCV_COMPONENTS_4 core imgproc highgui stitching photo video videoio calib3d)
SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5 objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4 aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
# Probe OpenCV without a version constraint first, then request the components
# matching the detected major version. A version-constrained find that fails to
@@ -255,9 +256,9 @@ SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu c
# where CMAKE_FIND_ROOT_PATH restricts the search).
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core)
IF(OpenCV_VERSION_MAJOR GREATER 4)
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS})
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5})
ELSE()
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS})
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4})
ENDIF()
IF(WITH_QT)
@@ -1339,10 +1340,13 @@ install(EXPORT rtabmapTargets
####
IF(OpenCV_VERSION_MAJOR GREATER 4)
SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5})
SET(CONF_OPENCV_OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5})
ELSE()
SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4})
SET(CONF_OPENCV_OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4})
ENDIF()
STRING(REPLACE ";" " " CONF_OPENCV_COMPONENTS "${CONF_OPENCV_COMPONENTS}")
STRING(REPLACE ";" " " CONF_OPENCV_OPTIONAL_COMPONENTS "${CONF_OPENCV_OPTIONAL_COMPONENTS}")
include(CMakePackageConfigHelpers)
write_basic_package_version_file(
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
@@ -1509,7 +1513,8 @@ ENDIF(PCL_COMPILE_OPTIONS)
MESSAGE(STATUS "")
MESSAGE(STATUS "Optional dependencies ('*' affects some default parameters) :")
IF(OpenCV_FOUND)
IF(OPENCV_ARUCO_FOUND)
IF((OpenCV_VERSION_MAJOR LESS 4 AND OPENCV_ARUCO_FOUND) OR
(OpenCV_VERSION_MAJOR GREATER 4 AND OPENCV_OBJDETECT_FOUND))
set(ARUCO_STR "YES")
ELSE()
set(ARUCO_STR "NO")