Introduce new opencv modules required with OpenCV 5. Closes: #1974

ChangeLog.txt

@@ -24,6 +24,7 @@ ViSP 3.7.1 (current version)
       - External Installation: Detect an existing installation built from the official repository,
       - Embedded Build: Fall back to the built-in version available directly in the 3rdparty/catch2 folder. This
         version was upgraded to Catch2 3.13.0
+    . Fix warnings detected on Ubuntu with -Wshadow -Wfloat-equal -Wsign-conversion
   - Applications
     . Camera intrinsic calibration app: visp-calibrate-camera.cpp
       - Add lens distortion displacement map visualization
@@ -41,14 +42,11 @@ ViSP 3.7.1 (current version)
     . [#1909] Fix build failure when apriltag is deactivated
     . [#1929] Support for the C++98 standard is not properly implemented
     . [#1930] Build issue in vpMocapVicon.cpp when c++98 enabled
-<<<<<<< fix_various_ogre
     . [#1943] Data race on std::setlocale in vpMbtXmlGenericParserr
     . [#1946] Joint position exceeds q_l1 threshold in secondaryTaskJointLimitAvoidance()
     . [#1947] Ogre3D examples are crashing due to a missing robot.mesh resource
-=======
-    . [#1943] Data race on std::setlocale in vpMbtXmlGenericParser
-    . [#1946] Joint position exceeds q_l1 threshold in secondaryTaskJointLimitAvoidance()
->>>>>>> master
+    . [#1958] ROS 2 package include path issues
+    . [#1974] Unable to build with OpenCV 5.0.0 and 5.1.0
 ----------------------------------------------
 ViSP 3.7.0 (released December 19, 2025)
   - Contributors:

apps/calibration/hand-eye/visp-compute-chessboard-poses.cpp

@@ -353,11 +353,11 @@ int main(int argc, const char **argv)
 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
       if (display) {
         delete display;
+      }
+#endif
     }
 #endif
   }
-#endif
-}
   catch (const vpException &e) {
     std::cout << "Catch an exception: " << e.getMessage() << std::endl;
   }
@@ -376,8 +376,8 @@ int main()
 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x050000) && !defined(HAVE_OPENCV_CALIB3D)
   std::cerr << "OpenCV calib3d module is requested to compute the pose of the chessboard." << std::endl;
 #endif
-#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x050000) && !defined(HAVE_OPENCV_GEOMETRY)
-  std::cerr << "OpenCV 3d module is requested to compute the pose of the chessboard." << std::endl;
+#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x050000) && !defined(HAVE_OPENCV_CALIB)
+  std::cerr << "OpenCV calib module is requested to compute the pose of the chessboard." << std::endl;
 #endif
 #if !defined(VISP_HAVE_PUGIXML)
   std::cout << "pugixml built-in 3rdparty is requested to compute the pose of the chessboard." << std::endl;

doc/config-doxygen.in

@@ -2448,11 +2448,20 @@ INCLUDE_FILE_PATTERNS  =
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
 PREDEFINED             = @DOXYGEN_SHOULD_SKIP_THIS@ \
+                         HAVE_OPENCV_CALIB \
                          HAVE_OPENCV_CALIB3D \
                          HAVE_OPENCV_DNN \
+                         HAVE_OPENCV_FEATURES \
+                         HAVE_OPENCV_FEATURES2D \
+                         HAVE_OPENCV_GEOMETRY \
                          HAVE_OPENCV_HIGHGUI \
+                         HAVE_OPENCV_IMGCODECS \
                          HAVE_OPENCV_IMGPROC \
-                         HAVE_OPENCV_GEOMETRY \
+                         HAVE_OPENCV_OBJDETECT \
+                         HAVE_OPENCV_VIDEO \
+                         HAVE_OPENCV_VIDEOIO \
+                         HAVE_OPENCV_XFEATURES2D \
+                         HAVE_OPENCV_XOBJDETECT \
                          VISP_HAVE_AFMA6 \
                          VISP_HAVE_AFMA6_DATA \
                          VISP_HAVE_APRILTAG \
@@ -2506,20 +2515,6 @@ PREDEFINED             = @DOXYGEN_SHOULD_SKIP_THIS@ \
                          VISP_HAVE_OIS \
                          VISP_HAVE_OPENCV \
                          VISP_HAVE_OPENCV_VERSION=0x030403 \
-                         HAVE_OPENCV_GEOMETRY \
-                         HAVE_OPENCV_CALIB \
-                         HAVE_OPENCV_CALIB3D \
-                         HAVE_OPENCV_DNN \
-                         HAVE_OPENCV_FEATURES \
-                         HAVE_OPENCV_FEATURES2D \
-                         HAVE_OPENCV_HIGHGUI \
-                         HAVE_OPENCV_IMGCODECS \
-                         HAVE_OPENCV_IMGPROC \
-                         HAVE_OPENCV_OBJDETECT \
-                         HAVE_OPENCV_VIDEO \
-                         HAVE_OPENCV_VIDEOIO \
-                         HAVE_OPENCV_XFEATURES2D \
-                         HAVE_OPENCV_XOBJDETECT \
                          VISP_HAVE_OPENGL \
                          VISP_HAVE_PANDA3D \
                          VISP_HAVE_PARPORT \

modules/core/CMakeLists.txt

@@ -76,10 +76,13 @@ if(USE_OPENCV)
     set(OpenCV_REQUIRED_LIB_COMPONENTS ${OpenCV_LIB_COMPONENTS})
     vp_list_filterout(OpenCV_REQUIRED_LIB_COMPONENTS "opencv_*")
     # We import only required OpenCV libraries
-    list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_core" "opencv_imgproc" "opencv_highgui" "opencv_calib3d" "opencv_features2d" "opencv_calib" "opencv_3d" )
+    list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_core" "opencv_imgproc" "opencv_highgui" "opencv_calib3d" "opencv_features2d" "opencv_calib" "opencv_3d")
     if(OpenCV_VERSION AND OpenCV_VERSION VERSION_LESS 2.4.8)
       list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_legacy")
     endif()
+    if(OpenCV_VERSION AND OpenCV_VERSION VERSION_GREATER_EQUAL 5.0.0)
+      list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_geometry")
+    endif()
 
     foreach(component_ ${OpenCV_REQUIRED_LIB_COMPONENTS})
       string(TOUPPER "${component_}" component_UP)

modules/tracker/klt/CMakeLists.txt

@@ -70,6 +70,10 @@ if(USE_OPENCV)
     # We import only required OpenCV libraries
     list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_video")
 
+    if(OpenCV_VERSION AND OpenCV_VERSION VERSION_GREATER_EQUAL 5.0.0)
+      list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_features")
+    endif()
+
     foreach(component_ ${OpenCV_REQUIRED_LIB_COMPONENTS})
       string(TOUPPER "${component_}" component_UP)
       if(${component_UP}_FOUND)

tutorial/bridge/opencv/tutorial-bridge-opencv-camera-param.cpp

@@ -36,8 +36,8 @@ int main()
   //! [Set OpenCV camera parameters]
 #if (VISP_HAVE_OPENCV_VERSION >= 0x050000)
   cv::Mat K = cv::Mat_<double>(3, 3);
-  K.at<double>(0, 0) = cam.get_px();K.at<double>(0, 1) = 0; K.at<double>(0, 2) = cam.get_u0();
-  K.at<double>(1, 0) = 0.;K.at<double>(1, 1) = cam.get_py();K.at<double>(1, 2) = cam.get_v0();
+  K.at<double>(0, 0) = cam.get_px(); K.at<double>(0, 1) = 0; K.at<double>(0, 2) = cam.get_u0();
+  K.at<double>(1, 0) = 0.; K.at<double>(1, 1) = cam.get_py(); K.at<double>(1, 2) = cam.get_v0();
   K.at<double>(2, 0) = 0; K.at<double>(2, 1) = 0; K.at<double>(2, 2) = 1;
   cv::Mat D = cv::Mat_<double>(4, 1, 0.);
   D.at<double>(0, 0) = cam.get_kud();
@@ -86,7 +86,7 @@ int main()
   std::cout << "This tutorial requires OpenCV calib3d module." << std::endl;
 #endif
 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x050000) && !defined(HAVE_OPENCV_GEOMETRY)
-  std::cout << "This tutorial requires OpenCV 3d module." << std::endl;
+  std::cout << "This tutorial requires OpenCV geometry module." << std::endl;
 #endif
   return EXIT_SUCCESS;
 }