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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/util3d.cpp
+4 -5
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@@ -41,7 +41,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
namespace rtabmap
{
@@ -892,7 +891,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
cv::Mat leftMono;
if(leftColor.channels() == 3)
{
cv::cvtColor(leftColor, leftMono, CV_BGR2GRAY);
cv::cvtColor(leftColor, leftMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -902,7 +901,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
cv::Mat rightMono;
if(rightColor.channels() == 3)
{
cv::cvtColor(rightColor, rightMono, CV_BGR2GRAY);
cv::cvtColor(rightColor, rightMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -1038,7 +1037,7 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloudsFromSensorData(
cv::Mat leftMono;
if(sensorData.imageRaw().channels() == 3)
{
cv::cvtColor(sensorData.imageRaw(), leftMono, CV_BGR2GRAY);
cv::cvtColor(sensorData.imageRaw(), leftMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -1048,7 +1047,7 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloudsFromSensorData(
cv::Mat rightMono;
if(sensorData.rightRaw().channels() == 3)
{
cv::cvtColor(sensorData.rightRaw(), rightMono, CV_BGR2GRAY);
cv::cvtColor(sensorData.rightRaw(), rightMono, cv::COLOR_BGR2GRAY);
}
else
{