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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/MainWindow.cpp
+7 -10
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/MainWindow.h"
#include "ui_mainWindow.h"
#include "GuiUtil.h"
#include "rtabmap/core/CameraRGB.h"
#include "rtabmap/core/CameraStereo.h"
@@ -93,6 +94,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QInputDialog>
#include <QToolButton>
#if CV_MAJOR_VERSION >= 5
#include <opencv2/geometry.hpp>
#endif
//RGB-D stuff
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/Odometry.h"
@@ -125,10 +130,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/global_map/GridMap.h>
#endif
#ifdef HAVE_OPENCV_ARUCO
#include <opencv2/aruco.hpp>
#endif
#define LOG_FILE_NAME "LogRtabmap.txt"
#define SHARE_SHOW_LOG_FILE "share/rtabmap/showlogs.m"
#define SHARE_GET_PRECISION_RECALL_FILE "share/rtabmap/getPrecisionRecall.m"
@@ -5959,9 +5960,7 @@ void MainWindow::startDetection()
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
showAndWaitExposed(&progress);
if(_preferencesDialog->getLidarSourceDriver() != PreferencesDialog::kSrcUndef)
{
@@ -6275,9 +6274,7 @@ void MainWindow::stopDetection()
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
showAndWaitExposed(&progress);
}
// kill the processes