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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/SensorCaptureThread.cpp
+8 -9
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@@ -39,7 +39,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/IMUFilter.h"
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/clams/discrete_depth_distortion_model.h"
#include <opencv2/imgproc/types_c.h>
#include <opencv2/stitching/detail/exposure_compensate.hpp>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/ULogger.h>
@@ -757,11 +756,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i
else if(data.imageRaw().type() == CV_8UC3)
{
cv::Mat channels[3];
cv::cvtColor(data.imageRaw(), image, CV_BGR2YCrCb);
cv::cvtColor(data.imageRaw(), image, cv::COLOR_BGR2YCrCb);
cv::split(image, channels);
cv::equalizeHist(channels[0], channels[0]);
cv::merge(channels, 3, image);
cv::cvtColor(image, image, CV_YCrCb2BGR);
cv::cvtColor(image, image, cv::COLOR_YCrCb2BGR);
}
if(!data.depthRaw().empty())
{
@@ -777,11 +776,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i
else if(data.rightRaw().type() == CV_8UC3)
{
cv::Mat channels[3];
cv::cvtColor(data.rightRaw(), right, CV_BGR2YCrCb);
cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2YCrCb);
cv::split(right, channels);
cv::equalizeHist(channels[0], channels[0]);
cv::merge(channels, 3, right);
cv::cvtColor(right, right, CV_YCrCb2BGR);
cv::cvtColor(right, right, cv::COLOR_YCrCb2BGR);
}
data.setStereoImage(image, right, data.stereoCameraModels()[0]);
}
@@ -796,11 +795,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i
else if(data.imageRaw().type() == CV_8UC3)
{
cv::Mat channels[3];
cv::cvtColor(data.imageRaw(), image, CV_BGR2YCrCb);
cv::cvtColor(data.imageRaw(), image, cv::COLOR_BGR2YCrCb);
cv::split(image, channels);
clahe->apply(channels[0], channels[0]);
cv::merge(channels, 3, image);
cv::cvtColor(image, image, CV_YCrCb2BGR);
cv::cvtColor(image, image, cv::COLOR_YCrCb2BGR);
}
if(!data.depthRaw().empty())
{
@@ -816,11 +815,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i
else if(data.rightRaw().type() == CV_8UC3)
{
cv::Mat channels[3];
cv::cvtColor(data.rightRaw(), right, CV_BGR2YCrCb);
cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2YCrCb);
cv::split(right, channels);
clahe->apply(channels[0], channels[0]);
cv::merge(channels, 3, right);
cv::cvtColor(right, right, CV_YCrCb2BGR);
cv::cvtColor(right, right, cv::COLOR_YCrCb2BGR);
}
data.setStereoImage(image, right, data.stereoCameraModels()[0]);
}