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--- a/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
+++ b/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
@@ -39,6 +39,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#if CV_MAJOR_VERSION >= 4
#include <opencv2/core/core_c.h>
+#include <rtabmap/core/rtabmap_core_export.h>
+
+namespace {
+
// Opencv4 doesn't expose those functions below anymore, we should recopy all of them!
int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian CV_DEFAULT(0))
{
@@ -915,6 +919,8 @@ void cvConvertPointsHomogeneous( const CvMat* _src, CvMat* _dst )
}
}
+} // namespace
+
#endif // OpenCV4
#endif // OpenCV3
@@ -923,9 +929,11 @@ namespace rtabmap
{
void
+RTABMAP_CORE_EXPORT
icvGetRectanglesFisheye( const CvMat* cameraMatrix, const CvMat* distCoeffs,
const CvMat* R, const CvMat* newCameraMatrix, CvSize imgSize,
cv::Rect_<float>& inner, cv::Rect_<float>& outer )
+#ifdef RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
{
const int N = 9;
int x, y, k;
@@ -967,12 +975,17 @@ icvGetRectanglesFisheye( const CvMat* cameraMatrix, const CvMat* distCoeffs,
inner = cv::Rect_<float>(iX0, iY0, iX1-iX0, iY1-iY0);
outer = cv::Rect_<float>(oX0, oY0, oX1-oX0, oY1-oY0);
}
+#else
+;
+#endif
-void cvStereoRectifyFisheye( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
+void RTABMAP_CORE_EXPORT
+ cvStereoRectifyFisheye( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
const CvMat* _distCoeffs1, const CvMat* _distCoeffs2,
CvSize imageSize, const CvMat* matR, const CvMat* matT,
CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2,
CvMat* matQ, int flags, double alpha, CvSize newImgSize )
+#ifdef RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
{
double _om[3], _t[3] = {0}, _uu[3]={0,0,0}, _r_r[3][3], _pp[3][4];
double _ww[3], _wr[3][3], _z[3] = {0,0,0}, _ri[3][3], _w3[3];
@@ -1177,19 +1190,25 @@ void cvStereoRectifyFisheye( const CvMat* _cameraMatrix1, const CvMat* _cameraMa
cvConvert( &Q, matQ );
}
}
+#else
+;
+#endif
+
-void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1,
+void RTABMAP_CORE_EXPORT
+ stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1,
cv::InputArray _cameraMatrix2, cv::InputArray _distCoeffs2,
cv::Size imageSize, cv::InputArray _Rmat, cv::InputArray _Tmat,
cv::OutputArray _Rmat1, cv::OutputArray _Rmat2,
cv::OutputArray _Pmat1, cv::OutputArray _Pmat2,
cv::OutputArray _Qmat, int flags,
double alpha, cv::Size newImageSize)
+#ifdef RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
{
cv::Mat cameraMatrix1 = _cameraMatrix1.getMat(), cameraMatrix2 = _cameraMatrix2.getMat();
cv::Mat distCoeffs1 = _distCoeffs1.getMat(), distCoeffs2 = _distCoeffs2.getMat();
cv::Mat Rmat = _Rmat.getMat(), Tmat = _Tmat.getMat();
-
+
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
CvMat c_cameraMatrix1 = cvMat(cameraMatrix1);
CvMat c_cameraMatrix2 = cvMat(cameraMatrix2);
@@ -1238,6 +1257,9 @@ void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCo
CvSize(newImageSize));
#endif
}
+#else
+;
+#endif
}
--- a/corelib/src/StereoCameraModel.cpp
+++ b/corelib/src/StereoCameraModel.cpp
@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/imgproc/imgproc.hpp>
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
+#define RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
#include <rtabmap/core/stereo/stereoRectifyFisheye.h>
#endif
|
