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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/PreferencesDialog.cpp
+22 -30
View File
@@ -61,6 +61,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QMainWindow>
#include <QProgressDialog>
#include <QApplication>
#include <QEventLoop>
#include <QElapsedTimer>
#include <QtGui/QWindow>
#include <QLabel>
#include <functional>
#include <QScrollBar>
@@ -70,6 +73,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtGui/QCloseEvent>
#include "ui_preferencesDialog.h"
#include "GuiUtil.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/core/Parameters.h"
@@ -506,10 +510,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_showOdomFrustums->setChecked(false);
#endif
#if !defined(HAVE_OPENCV_ARUCO) && !defined(RTABMAP_APRILTAG)
#if !((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) && !defined(HAVE_OPENCV_ARUCO) && !defined(RTABMAP_APRILTAG)
_ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module and/or RTAB-Map has been built with AprilTag library support.");
#endif
#ifndef HAVE_OPENCV_ARUCO
#if !(((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO))
_ui->MarkerStrategy->setItemData(0, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_APRILTAG
@@ -2639,19 +2643,19 @@ void PreferencesDialog::restoreConfigOwnership(const QString & filePath)
gid_t gid = (gid_t)atoi(sudoGid);
// Restore the config file and its containing directory so the user
// can still write preferences without sudo afterwards.
if(!filePath.isEmpty() && QFile::exists(filePath))
auto restoreOwnership = [uid, gid](const QString & path)
{
if(chown(filePath.toStdString().c_str(), uid, gid) != 0)
if(!path.isEmpty() && QFile::exists(path))
{
UWARN("Could not restore ownership of \"%s\" to uid=%d (%s).",
filePath.toStdString().c_str(), (int)uid, strerror(errno));
if(chown(path.toStdString().c_str(), uid, gid) != 0)
{
UWARN("Could not restore ownership of \"%s\" to uid=%d (%s).",
path.toStdString().c_str(), (int)uid, strerror(errno));
}
}
}
QString dir = QFileInfo(filePath).absolutePath();
if(!dir.isEmpty())
{
chown(dir.toStdString().c_str(), uid, gid);
}
};
restoreOwnership(filePath);
restoreOwnership(QFileInfo(filePath).absolutePath());
}
}
#else
@@ -7846,9 +7850,7 @@ void PreferencesDialog::testOdometry()
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
showAndWaitExposed(&progress);
Camera * camera = this->createCamera();
progress.hide();
@@ -7989,9 +7991,7 @@ void PreferencesDialog::testOdometry()
// at function scope end (not in join()), so 'progress' stays visible across it. On Windows
// the first 2-3 RealSense closes per launch stall ~20s in the Motion Module stop().
progress.setLabelText(tr("Closing camera..."));
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
showAndWaitExposed(&progress);
cameraThread.join(true);
odomThread.join(true);
@@ -8033,9 +8033,7 @@ void PreferencesDialog::testCamera()
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
showAndWaitExposed(&progress);
// createCamera() init()s the device on the GUI thread (required by ZED) and takes a few seconds.
Camera * camera = this->createCamera();
@@ -8092,9 +8090,7 @@ void PreferencesDialog::testCamera()
// stays visible across it. On Windows the first 2-3 RealSense closes per launch stall
// ~20s in the Motion Module stop() (librealsense warm-up); this keeps the user informed.
progress.setLabelText(tr("Closing camera..."));
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
showAndWaitExposed(&progress);
cameraThread.join(true); // cameraThread's destructor (scope end) closes the device
// deleteLater() (not delete): defer destruction to the event loop so Qt finishes
// tearing down the OpenGL widget's context and window-proc subclass and drains
@@ -8582,9 +8578,7 @@ void PreferencesDialog::testLidar()
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
showAndWaitExposed(&progress);
Lidar * lidar = this->createLidar();
progress.hide();
@@ -8613,9 +8607,7 @@ void PreferencesDialog::testLidar()
// destructor at scope end (not in join()), so 'progress' - declared in the outer
// scope - stays visible across it.
progress.setLabelText(tr("Closing sensor..."));
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
showAndWaitExposed(&progress);
lidarThread.join(true); // lidarThread's destructor (scope end) closes the device
// deleteLater() (not delete): see testCamera() - avoids a dangling OpenGL platform
// window that crashes in QWindowsWindow::alertWindow when Preferences later closes.