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OpenCV 5 support (#1732)

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* OpenCV 5 support

* RTABMapConfig.cmake, guard from including stereoRectifyFisheye.h

* unified opencv components at the same place

* fixing android build

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

* pinning opencv for downstream apps

* Avoid changing object/image points between fisheye calibration

* Fixed stereo calib diverging when recalibrating same data

* removed not needed opencv c api

* fixing depthai build on opencv5

* bumped version

* Adding ci opencv5 with homebrew

* fixed ci script

* Fixed OptimizerCeres build with opencv5
This commit is contained in:
matlabbe
2026-07-29 22:48:39 -07:00
committed by GitHub
parent 89998284bc
commit d9f3337f97
79 changed files with 741 additions and 366 deletions
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37
CMakeLists.txt
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@@ -22,7 +22,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 23)
SET(RTABMAP_PATCH_VERSION 8)
SET(RTABMAP_PATCH_VERSION 9)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -241,7 +241,25 @@ 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)
# OpenCV components. calib3d was split into "calib" + "geometry" in OpenCV 5.
# These lists are reused below to generate RTABMapConfig.cmake so downstream
# 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_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
# match (e.g. asking for 5 when only 4 is present) resets OpenCV_DIR to NOTFOUND,
# which breaks toolchain builds that rely on a -DOpenCV_DIR hint (e.g. Android,
# 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_5})
ELSE()
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4})
ENDIF()
IF(WITH_QT)
FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
@@ -1320,6 +1338,18 @@ install(EXPORT rtabmapTargets
####
# Setup RTABMapConfig.cmake
####
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}")
# Pin the OpenCV major version so downstream projects find the same major RTAB-Map was
# built against
SET(CONF_OPENCV_VERSION_MAJOR ${OpenCV_VERSION_MAJOR})
include(CMakePackageConfigHelpers)
write_basic_package_version_file(
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
@@ -1486,7 +1516,8 @@ 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")