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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/RegistrationVis.cpp
+4 -2
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@@ -43,7 +43,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h>
#include <opencv2/core/core_c.h>
#if CV_MAJOR_VERSION > 4
#include <opencv2/geometry.hpp>
#endif
#if defined(HAVE_OPENCV_XFEATURES2D) && (CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION==3 && CV_MINOR_VERSION >=4 && CV_SUBMINOR_VERSION >= 1))
#include <opencv2/xfeatures2d.hpp> // For GMS matcher
@@ -2172,7 +2174,7 @@ Transform RegistrationVis::computeTransformationImpl(
if(!transform.isNull() && !pcaData.empty())
{
cv::Mat pcaEigenVectors, pcaEigenValues;
cv::PCA pca_analysis(pcaData, cv::Mat(), CV_PCA_DATA_AS_ROW);
cv::PCA pca_analysis(pcaData, cv::Mat(), cv::PCA::DATA_AS_ROW);
// We take the second eigen value
info.inliersDistribution = pca_analysis.eigenvalues.at<float>(0, 1);