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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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/opencv/ORBextractor.cc
+4
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@@ -64,7 +64,11 @@
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#if CV_MAJOR_VERSION < 5
#include <opencv2/features2d/features2d.hpp>
#else
#include <opencv2/features.hpp>
#endif
#include <opencv2/imgproc/imgproc.hpp>
#include <vector>
#include <algorithm>
corelib/src/opencv/ORBextractor.h
-2
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@@ -31,8 +31,6 @@
#include <vector>
#include <list>
#include <opencv2/core/core_c.h>
namespace rtabmap
{
corelib/src/opencv/Orb.cpp
+2 -3
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@@ -40,7 +40,6 @@
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include <algorithm>
#include <iterator>
@@ -252,7 +251,7 @@ static void computeOrbDescriptor(const KeyPoint& kpt,
}
}
else
CV_Error( CV_StsBadSize, "Wrong WTA_K. It can be only 2, 3 or 4." );
CV_Error( cv::Error::StsBadSize, "Wrong WTA_K. It can be only 2, 3 or 4." );
#undef GET_VALUE
}
@@ -752,7 +751,7 @@ void CV_ORB::operator()( InputArray _image, InputArray _mask, std::vector<KeyPoi
Mat image = _image.getMat(), mask = _mask.getMat();
if( image.type() != CV_8UC1 )
cvtColor(_image, image, CV_BGR2GRAY);
cvtColor(_image, image, cv::COLOR_BGR2GRAY);
int levelsNum = this->nlevels;
corelib/src/opencv/five-point.h
+4
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@@ -8,6 +8,10 @@
#ifndef CORELIB_SRC_OPENCV_FIVE_POINT_H_
#define CORELIB_SRC_OPENCV_FIVE_POINT_H_
#if CV_MAJOR_VERSION > 4
#include <opencv2/geometry.hpp>
#endif
namespace cv3
{
corelib/src/opencv/solvepnp.cpp
+5 -5
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@@ -53,7 +53,7 @@ class PnPRansacCallback : public PointSetRegistrator::Callback
public:
PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=CV_ITERATIVE,
PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::SOLVEPNP_ITERATIVE,
bool _useExtrinsicGuess=false, Mat _rvec=Mat(), Mat _tvec=Mat() )
: cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), flags(_flags), useExtrinsicGuess(_useExtrinsicGuess),
rvec(_rvec), tvec(_tvec) {}
@@ -142,12 +142,12 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
int model_points = 6;
int ransac_kernel_method = CV_EPNP;
int ransac_kernel_method = cv::SOLVEPNP_EPNP;
if( npoints == 4 )
{
model_points = 4;
ransac_kernel_method = CV_P3P;
ransac_kernel_method = cv::SOLVEPNP_P3P;
}
Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
@@ -178,7 +178,7 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
opoints_inliers.resize(npoints1);
ipoints_inliers.resize(npoints1);
result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix,
distCoeffs, rvec, tvec, useExtrinsicGuess, flags == CV_P3P ? CV_EPNP : flags) ? 1 : -1;
distCoeffs, rvec, tvec, useExtrinsicGuess, flags == cv::SOLVEPNP_P3P ? cv::SOLVEPNP_EPNP : flags) ? 1 : -1;
}
if( result <= 0 || _local_model.rows <= 0)
@@ -213,7 +213,7 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters )
{
if( modelPoints <= 0 )
CV_Error( 0, "the number of model points should be positive" );
CV_Error( cv::Error::Code::StsBadArg, "the number of model points should be positive" );
p = MAX(p, 0.);
p = MIN(p, 1.);
corelib/src/opencv/solvepnp.h
+4 -3
View File
@@ -45,9 +45,10 @@
#define RTABMAP_CORELIB_SRC_OPENCV_SOLVEPNP_H_
#include <opencv2/core/core.hpp>
#if CV_MAJOR_VERSION >= 5
#include <opencv2/geometry.hpp>
#else
#include <opencv2/calib3d/calib3d.hpp>
#if CV_MAJOR_VERSION >= 3
#include <opencv2/calib3d/calib3d_c.h>
#endif
namespace cv3 {
@@ -95,7 +96,7 @@ bool solvePnPRansac( cv::InputArray objectPoints, cv::InputArray imagePoints,
cv::OutputArray rvec, cv::OutputArray tvec,
bool useExtrinsicGuess = false, int iterationsCount = 100,
float reprojectionError = 8.0, double confidence = 0.99,
cv::OutputArray inliers = cv::noArray(), int flags = CV_ITERATIVE );
cv::OutputArray inliers = cv::noArray(), int flags = cv::SOLVEPNP_ITERATIVE );
int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters );