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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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corelib/src/Features2d.cpp
+29 -11
View File
@@ -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 < 3
#if CV_MAJOR_VERSION > 4
#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
kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, (cv::KAZE::DiffusivityType)diffusivity_);
#if CV_MAJOR_VERSION > 4
#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;
}