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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/util2d.cpp
+9 -5
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@@ -34,11 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/StereoDense.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/types_c.h>
#include <map>
#include <Eigen/Core>
@@ -46,6 +44,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/photo/photo.hpp>
#endif
#if CV_MAJOR_VERSION < 5
#include <opencv2/calib3d/calib3d.hpp>
#else
#include <opencv2/geometry.hpp>
#endif
namespace rtabmap
{
@@ -747,7 +751,7 @@ cv::Mat disparityFromStereoImages(
cv::Mat leftMono;
if(leftImage.channels() == 3)
{
cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
cv::cvtColor(leftImage, leftMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -2042,8 +2046,8 @@ cv::Mat brightnessAndContrastAuto(const cv::Mat &src, const cv::Mat & mask, floa
//to calculate grayscale histogram
cv::Mat gray;
if (src.type() == CV_8UC1) gray = src;
else if (src.type() == CV_8UC3) cvtColor(src, gray, CV_BGR2GRAY);
else if (src.type() == CV_8UC4) cvtColor(src, gray, CV_BGRA2GRAY);
else if (src.type() == CV_8UC3) cvtColor(src, gray, cv::COLOR_BGR2GRAY);
else if (src.type() == CV_8UC4) cvtColor(src, gray, cv::COLOR_BGRA2GRAY);
if (clipLowHistPercent == 0 && clipHighHistPercent == 0)
{
// keep full available range