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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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guilib/src/DatabaseViewer.cpp
+2 -4
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@@ -46,8 +46,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/core/core_c.h>
#include <opencv2/imgproc/types_c.h>
#include <opencv2/highgui/highgui.hpp>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UFile.h>
@@ -5980,7 +5978,7 @@ void DatabaseViewer::updateStereo(const SensorData * data)
cv::Mat leftMono;
if(data->imageRaw().channels() == 3)
{
cv::cvtColor(data->imageRaw(), leftMono, CV_BGR2GRAY);
cv::cvtColor(data->imageRaw(), leftMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -5989,7 +5987,7 @@ void DatabaseViewer::updateStereo(const SensorData * data)
cv::Mat rightMono;
if(data->rightRaw().channels() == 3)
{
cv::cvtColor(data->rightRaw(), rightMono, CV_BGR2GRAY);
cv::cvtColor(data->rightRaw(), rightMono, cv::COLOR_BGR2GRAY);
}
else
{