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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/stereo/StereoBM.cpp
+7 -3
View File
@@ -27,9 +27,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/stereo/StereoBM.h>
#include <rtabmap/utilite/ULogger.h>
#if CV_MAJOR_VERSION < 5
#include <opencv2/calib3d/calib3d.hpp>
#else
#include <opencv2/stereo.hpp>
#include <opencv2/geometry.hpp>
#endif
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
namespace rtabmap {
@@ -88,7 +92,7 @@ cv::Mat StereoBM::computeDisparity(
cv::Mat leftMono;
if(leftImage.channels() == 3)
{
cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
cv::cvtColor(leftImage, leftMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -98,7 +102,7 @@ cv::Mat StereoBM::computeDisparity(
cv::Mat rightMono;
if(rightImage.channels() == 3)
{
cv::cvtColor(rightImage, rightMono, CV_BGR2GRAY);
cv::cvtColor(rightImage, rightMono, cv::COLOR_BGR2GRAY);
}
else
{
corelib/src/stereo/StereoSGBM.cpp
+7 -3
View File
@@ -27,9 +27,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/stereo/StereoSGBM.h>
#include <rtabmap/utilite/ULogger.h>
#if CV_MAJOR_VERSION < 5
#include <opencv2/calib3d/calib3d.hpp>
#else
#include <opencv2/stereo.hpp>
#include <opencv2/geometry.hpp>
#endif
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
namespace rtabmap {
@@ -77,7 +81,7 @@ cv::Mat StereoSGBM::computeDisparity(
cv::Mat leftMono;
if(leftImage.channels() == 3)
{
cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
cv::cvtColor(leftImage, leftMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -87,7 +91,7 @@ cv::Mat StereoSGBM::computeDisparity(
cv::Mat rightMono;
if(rightImage.channels() == 3)
{
cv::cvtColor(rightImage, rightMono, CV_BGR2GRAY);
cv::cvtColor(rightImage, rightMono, cv::COLOR_BGR2GRAY);
}
else
{