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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/Memory.cpp
+5 -3
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@@ -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 {
@@ -5530,7 +5532,7 @@ 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
{
@@ -5838,7 +5840,7 @@ 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
{