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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/CameraImages.cpp
+3 -3
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@@ -34,7 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/Graph.h>
#include <opencv2/imgproc/types_c.h>
#include <opencv2/imgproc.hpp>
#include <fstream>
namespace rtabmap
@@ -1111,7 +1111,7 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
{
UWARN("Conversion from 4 channels to 3 channels (file=%s)", imageFilePath.c_str());
cv::Mat out;
cv::cvtColor(img, out, CV_BGRA2BGR);
cv::cvtColor(img, out, cv::COLOR_BGRA2BGR);
img = out;
}
else if(!img.empty() && _bayerMode >= 0 && _bayerMode <=3)
@@ -1119,7 +1119,7 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
cv::Mat debayeredImg;
try
{
cv::cvtColor(img, debayeredImg, CV_BayerBG2BGR + _bayerMode);
cv::cvtColor(img, debayeredImg, cv::COLOR_BayerBG2BGR + _bayerMode);
img = debayeredImg;
}
catch(const cv::Exception & e)