slam files merge into ptcloud dir

cmake/OpenCVModule.cmake

@@ -832,6 +832,8 @@ macro(ocv_glob_module_sources)
        "${CMAKE_CURRENT_LIST_DIR}/include/opencv2/${name}/hal/*.h"
        "${CMAKE_CURRENT_LIST_DIR}/include/opencv2/${name}/utils/*.hpp"
        "${CMAKE_CURRENT_LIST_DIR}/include/opencv2/${name}/utils/*.h"
+       "${CMAKE_CURRENT_LIST_DIR}/include/opencv2/${name}/slam/*.hpp"
+       "${CMAKE_CURRENT_LIST_DIR}/include/opencv2/${name}/slam/*.h"
        "${CMAKE_CURRENT_LIST_DIR}/include/opencv2/${name}/legacy/*.h"
   )
   file(GLOB lib_hdrs_detail

modules/ptcloud/CMakeLists.txt

@@ -4,10 +4,11 @@ set(debug_modules "")
 if(DEBUG_opencv_ptcloud)
   list(APPEND debug_modules opencv_highgui)
 endif()
-ocv_define_module(ptcloud opencv_geometry opencv_imgproc opencv_flann ${debug_modules}
-    WRAP java objc python js
+ocv_define_module(ptcloud opencv_geometry opencv_imgproc opencv_flann opencv_features opencv_imgcodecs opencv_video ${debug_modules} 
+  WRAP java objc python js
 )
 ocv_target_link_libraries(${the_module} ${LAPACK_LIBRARIES})
+ocv_warnings_disable(CMAKE_CXX_FLAGS -Wshadow)
 
 if(NOT HAVE_EIGEN)
   message(STATUS "Geometry: Eigen support is disabled. Eigen is Required for Posegraph optimization")

modules/ptcloud/include/opencv2/ptcloud.hpp

@@ -11,6 +11,7 @@
 #include "opencv2/ptcloud/odometry.hpp"
 #include "opencv2/ptcloud/odometry_frame.hpp"
 #include "opencv2/ptcloud/odometry_settings.hpp"
+#include "opencv2/ptcloud/slam.hpp"
 
 /**
 @defgroup ptcloud Point Clound Processing

modules/ptcloud/include/opencv2/ptcloud/slam.hpp

@@ -4,8 +4,8 @@
 // Copyright (C) 2026, BigVision LLC, all rights reserved.
 // Third party copyrights are property of their respective owners.
 
-#ifndef OPENCV_SLAM_HPP
-#define OPENCV_SLAM_HPP
+#ifndef OPENCV_PTCLOUD_SLAM_HPP
+#define OPENCV_PTCLOUD_SLAM_HPP
 
 /**
 @defgroup slam SLAM and Visual Odometry
@@ -15,9 +15,9 @@ Bootstraps an initial map from two-view geometry, then tracks subsequent frames
 with PnP, growing the map at keyframe promotions.
 */
 
-#include "opencv2/slam/types.hpp"
-#include "opencv2/slam/map.hpp"
-#include "opencv2/slam/odometry_params.hpp"
-#include "opencv2/slam/visual_odometry.hpp"
+#include "opencv2/ptcloud/slam/types.hpp"
+#include "opencv2/ptcloud/slam/map.hpp"
+#include "opencv2/ptcloud/slam/odometry_params.hpp"
+#include "opencv2/ptcloud/slam/visual_odometry.hpp"
 
-#endif // OPENCV_SLAM_HPP
+#endif // OPENCV_PTCLOUD_SLAM_HPP

modules/ptcloud/include/opencv2/ptcloud/slam/map.hpp

@@ -7,7 +7,7 @@
 #ifndef OPENCV_SLAM_MAP_HPP
 #define OPENCV_SLAM_MAP_HPP
 
-#include "opencv2/slam/types.hpp"
+#include "opencv2/ptcloud/slam/types.hpp"
 
 #include <set>
 #include <vector>

modules/ptcloud/include/opencv2/ptcloud/slam/visual_odometry.hpp

@@ -10,9 +10,9 @@
 #include "opencv2/core.hpp"
 #include "opencv2/features.hpp"
 
-#include "opencv2/slam/types.hpp"
-#include "opencv2/slam/map.hpp"
-#include "opencv2/slam/odometry_params.hpp"
+#include "opencv2/ptcloud/slam/types.hpp"
+#include "opencv2/ptcloud/slam/map.hpp"
+#include "opencv2/ptcloud/slam/odometry_params.hpp"
 
 #include <vector>
 

modules/ptcloud/include/opencv2/slam.hpp

@@ -4,10 +4,11 @@
 // Copyright (C) 2026, BigVision LLC, all rights reserved.
 // Third party copyrights are property of their respective owners.
 
-// Compatibility shim: prefer #include <opencv2/slam.hpp>.
-#ifndef OPENCV_SLAM_SLAM_HPP
-#define OPENCV_SLAM_SLAM_HPP
+#ifndef OPENCV_SLAM_HPP
+#define OPENCV_SLAM_HPP
 
-#include "opencv2/slam.hpp"
+// Convenience umbrella header so SLAM / visual odometry can be included as
+// <opencv2/slam.hpp>. The implementation currently lives in the ptcloud module.
+#include "opencv2/ptcloud/slam.hpp"
 
-#endif
+#endif // OPENCV_SLAM_HPP

modules/ptcloud/src/slam/precomp.hpp

@@ -7,7 +7,7 @@
 #ifndef OPENCV_SLAM_PRECOMP_HPP
 #define OPENCV_SLAM_PRECOMP_HPP
 
-#include "opencv2/slam.hpp"
+#include "opencv2/ptcloud/slam.hpp"
 
 #include "opencv2/core.hpp"
 #include "opencv2/core/utility.hpp"

modules/ptcloud/test/test_precomp.hpp

@@ -13,6 +13,8 @@
 #include <opencv2/core/utils/logger.hpp>
 #include "opencv2/ptcloud/depth.hpp"
 #include "opencv2/ptcloud/odometry.hpp"
+#include "opencv2/ptcloud/slam.hpp"
+#include "opencv2/features.hpp"
 
 #ifdef HAVE_OPENCL
 #include <opencv2/core/ocl.hpp>

modules/slam/CMakeLists.txt

@@ -1,13 +0,0 @@
-set(the_description "SLAM and Visual Odometry")
-
-ocv_define_module(slam
-  opencv_geometry
-  opencv_features
-  opencv_imgproc
-  opencv_imgcodecs
-  opencv_video
-  OPTIONAL
-  opencv_dnn
-  WRAP python)
-
-ocv_warnings_disable(CMAKE_CXX_FLAGS -Wshadow)

modules/slam/perf/perf_main.cpp

@@ -1,9 +0,0 @@
-// This file is part of OpenCV project.
-// It is subject to the license terms in the LICENSE file found in the top-level directory
-// of this distribution and at http://opencv.org/license.html.
-// Copyright (C) 2026, BigVision LLC, all rights reserved.
-// Third party copyrights are property of their respective owners.
-
-#include "perf_precomp.hpp"
-
-CV_PERF_TEST_MAIN(slam)

modules/slam/perf/perf_precomp.hpp

@@ -1,13 +0,0 @@
-// This file is part of OpenCV project.
-// It is subject to the license terms in the LICENSE file found in the top-level directory
-// of this distribution and at http://opencv.org/license.html.
-// Copyright (C) 2026, BigVision LLC, all rights reserved.
-// Third party copyrights are property of their respective owners.
-
-#ifndef OPENCV_SLAM_PERF_PRECOMP_HPP
-#define OPENCV_SLAM_PERF_PRECOMP_HPP
-
-#include "opencv2/ts.hpp"
-#include "opencv2/slam.hpp"
-
-#endif

modules/slam/test/test_main.cpp

@@ -1,9 +0,0 @@
-// This file is part of OpenCV project.
-// It is subject to the license terms in the LICENSE file found in the top-level directory
-// of this distribution and at http://opencv.org/license.html.
-// Copyright (C) 2026, BigVision LLC, all rights reserved.
-// Third party copyrights are property of their respective owners.
-
-#include "test_precomp.hpp"
-
-CV_TEST_MAIN("cv")

modules/slam/test/test_precomp.hpp

@@ -1,15 +0,0 @@
-// This file is part of OpenCV project.
-// It is subject to the license terms in the LICENSE file found in the top-level directory
-// of this distribution and at http://opencv.org/license.html.
-// Copyright (C) 2026, BigVision LLC, all rights reserved.
-// Third party copyrights are property of their respective owners.
-
-#ifndef OPENCV_SLAM_TEST_PRECOMP_HPP
-#define OPENCV_SLAM_TEST_PRECOMP_HPP
-
-#include "opencv2/ts.hpp"
-#include "opencv2/slam.hpp"
-#include "opencv2/geometry.hpp"
-#include "opencv2/features.hpp"
-
-#endif

samples/slam/CMakeLists.txt

@@ -4,7 +4,7 @@ set(OPENCV_SLAM_SAMPLES_REQUIRED_DEPS
   opencv_core
   opencv_dnn
   opencv_features
-  opencv_slam)
+  opencv_ptcloud)
 ocv_check_dependencies(${OPENCV_SLAM_SAMPLES_REQUIRED_DEPS})
 
 if(NOT BUILD_EXAMPLES OR NOT OCV_DEPENDENCIES_FOUND)