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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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3
tools/Camera/main.cpp
View File

@@ -32,7 +32,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UDirectory.h"
#include "rtabmap/utilite/UConversion.h"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/highgui/highgui_c.h>
#include <stdio.h>
void showUsage()
@@ -178,7 +177,7 @@ int main(int argc, char * argv[])
cv::Mat rgb;
rgb = camera->takeImage().imageRaw();
cv::namedWindow("Video", CV_WINDOW_AUTOSIZE); // create window
cv::namedWindow("Video", cv::WINDOW_AUTOSIZE); // create window
while(!rgb.empty())
{
cv::imshow("Video", rgb); // show frame

6
tools/CameraRGBD/main.cpp
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@@ -40,10 +40,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UEventsManager.h"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
#if CV_MAJOR_VERSION >= 3
#include <opencv2/videoio/videoio_c.h>
#endif
#include <pcl/visualization/cloud_viewer.h>
#include <stdio.h>
#include <signal.h>
@@ -470,7 +466,7 @@ int main(int argc, char * argv[])
{
if(right.channels() == 3)
{
cv::cvtColor(right, right, CV_BGR2GRAY);
cv::cvtColor(right, right, cv::COLOR_BGR2GRAY);
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(
rgb, right,

5
tools/EpipolarGeometry/main.cpp
View File

@@ -26,7 +26,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <opencv2/core/core.hpp>
#include <opencv2/core/types_c.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <iostream>
@@ -36,7 +35,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UMath.h>
#if CV_MAJOR_VERSION < 5
#include <opencv2/calib3d/calib3d.hpp>
#else
#include <opencv2/geometry.hpp>
#endif
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/EpipolarGeometry.h"
#include "rtabmap/core/VWDictionary.h"

7
tools/StereoEval/main.cpp
View File

@@ -37,7 +37,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h>
#include <opencv2/imgproc/types_c.h>
#include <fstream>
#include <string>
@@ -222,7 +221,7 @@ int main(int argc, char * argv[])
cv::Mat leftMono;
if(left.channels() == 3)
{
cv::cvtColor(left, leftMono, CV_BGR2GRAY);
cv::cvtColor(left, leftMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -231,7 +230,7 @@ int main(int argc, char * argv[])
cv::Mat rightMono;
if(right.channels() == 3)
{
cv::cvtColor(right, rightMono, CV_BGR2GRAY);
cv::cvtColor(right, rightMono, cv::COLOR_BGR2GRAY);
}
else
{
@@ -266,7 +265,7 @@ int main(int argc, char * argv[])
cv::cornerSubPix(leftMono, leftCorners,
cv::Size( subPixWinSize, subPixWinSize ),
cv::Size( -1, -1 ),
cv::TermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, subPixIterations, subPixEps ) );
cv::TermCriteria( cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, subPixIterations, subPixEps ) );
UDEBUG("cv::cornerSubPix() end");
}