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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/StereoCameraModel.cpp
+10 -2
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@@ -33,7 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/imgproc/imgproc.hpp>
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
#if (CV_MAJOR_VERSION > 2 and CV_MAJOR_VERSION < 5) or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
#include <rtabmap/core/stereo/stereoRectifyFisheye.h>
#endif
@@ -179,12 +179,20 @@ void StereoCameraModel::updateStereoRectification()
{
cv::Vec4d D_left(left_.D_raw().at<double>(0,0), left_.D_raw().at<double>(0,1), left_.D_raw().at<double>(0,4), left_.D_raw().at<double>(0,5));
cv::Vec4d D_right(right_.D_raw().at<double>(0,0), right_.D_raw().at<double>(0,1), right_.D_raw().at<double>(0,4), right_.D_raw().at<double>(0,5));
#if CV_MAJOR_VERSION < 5
stereoRectifyFisheye(
left_.K_raw(), D_left,
right_.K_raw(), D_right,
left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
#else
double balance = 0.0, fov_scale = 1.0;
cv::fisheye::stereoRectify(
left_.K_raw(), D_left,
right_.K_raw(), D_right,
left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, left_.imageSize(), balance, fov_scale);
#endif
// Re-zoom to original focal distance
if(P1.at<double>(0,0) < 0)