OpenCV 5 support (#1732)

* 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

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/MarkerDetector.h

@@ -32,7 +32,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/CameraModel.h>
 #include <opencv2/opencv_modules.hpp>
 
-#ifdef HAVE_OPENCV_ARUCO
+#if (CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)
+#include <opencv2/objdetect.hpp>
+#elif defined(HAVE_OPENCV_ARUCO)
 #include <opencv2/aruco.hpp>
 #endif
 
@@ -97,8 +99,11 @@ private:
 	float maxRange_;
 	float minRange_;
 	int dictionaryId_;
-#ifdef HAVE_OPENCV_ARUCO
-	cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
+#if ((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO)
+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)
+  cv::Ptr<cv::aruco::ArucoDetector> arucoDetector_;
+#endif
+  cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 #endif
   void * apriltagLibDetector_;

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>

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/stereo/stereoRectifyFisheye.h

@@ -32,6 +32,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef CORELIB_SRC_OPENCV_STEREORECTIFYFISHEYE_H_
 #define CORELIB_SRC_OPENCV_STEREORECTIFYFISHEYE_H_
 
+// This header relies on the OpenCV C API (cvRodrigues2, cvProjectPoints2, ...)
+// which was removed in OpenCV 5. Pull in only the version macros (available in
+// all OpenCV versions) so we can fail early with a clear message rather than
+// with cryptic errors from the includes below.
+#include <opencv2/core/version.hpp>
+#if CV_MAJOR_VERSION >= 5
+#error "stereoRectifyFisheye.h is not supported with OpenCV 5 or later (it uses the removed OpenCV C API). Use cv::fisheye::stereoRectify() instead, or guard your include with '#if CV_MAJOR_VERSION < 5'."
+#endif
+
 #include <opencv2/calib3d/calib3d.hpp>
 #if CV_MAJOR_VERSION >= 3
 #include <opencv2/calib3d/calib3d_c.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>