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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/camera/CameraFreenect2.cpp
+8 -9
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@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/util2d.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_FREENECT2
#include <libfreenect2/libfreenect2.hpp>
@@ -430,11 +429,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info)
cv::Mat rgbMat; // rtabmap uses 3 channels RGB
#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatC4, rgbMat, CV_RGBA2BGR);
cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_RGBA2BGR);
#else
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_BGRA2BGR);
#endif
cv::flip(rgbMat, rgb, 1);
@@ -490,11 +489,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info)
cv::Mat rgbMat; // rtabmap uses 3 channels RGB
#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatC4, rgbMat, CV_RGB2BGR);
cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_RGB2BGR);
#else
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_BGRA2BGR);
#endif
cv::flip(rgbMat, rgb, 1);
@@ -607,11 +606,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info)
// rtabmap uses 3 channels RGB
#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR);
cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_RGBA2BGR);
#else
cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR);
cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_BGRA2BGR);
#endif
cv::flip(rgb, rgb, 1);
@@ -629,11 +628,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info)
// rtabmap uses 3 channels RGB
#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR);
cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_RGBA2BGR);
#else
cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR);
cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_BGRA2BGR);
#endif
cv::flip(rgb, rgb, 1);