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Updated zed sdk5 resolution and quality

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This commit is contained in:
matlabbe
2026-07-02 23:00:29 -07:00
parent 1e25f5d4e1
commit 3a95215c99
4 changed files with 83 additions and 19 deletions
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corelib/src/camera/CameraStereoZed.cpp
+30 -13
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@@ -303,28 +303,42 @@ CameraStereoZed::CameraStereoZed(
{
UDEBUG("");
#ifdef RTABMAP_ZED
// -1 = AUTO, 0=HD4K 1=QHDPLUS 2=HD2K 3=HD1536 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA 9=XVGA 10=TXVGA
#if ZED_SDK_MAJOR_VERSION < 4
if(resolution_ == 1 || resolution_ == 2) // HD2K, HD1080
// Zed3 Supported: 2=HD2K 4=HD1080 6=HD720 8=VGA
if(resolution_ == 0 || resolution_ == 1) // 0=HD4K 1=QHDPLUS
{
resolution_ -= 1; // HD2K=0, HD1080=1
UWARN("Zed SDK v4 doesn't support HD4K and QHDPLUS, setting HD2K.");
resolution_ = 2; // 2=HD2K
}
if(resolution_ == 3) // HD1200
if(resolution_ == 3 || resolution_ == 5) // 3=HD1536 5=HD1200
{
resolution_ = 1; // HD1080=1
UWARN("Zed SDK v4 doesn't support HD1536 and HD1200, setting HD1080.");
resolution_ = 4; // 4=HD1080
}
if(resolution_ == 4 || resolution_ == -1)
if(resolution_ == 7 || resolution_ >=9) // 7=SVGA 9=XVGA 10=TXVGA
{
resolution_ = 2; // HD720=2
UWARN("Zed SDK v4 doesn't support SVGA, XVGA and TXVGA, setting VGA.");
resolution_ = 8; // 8=VGA
}
else if(resolution_ == 5 || resolution_ == 6) // SVGA, VGA
{
resolution_ = 3; // VGA=3
}
#else // ZED=4
#else
if(resolution_ == -1)
{
resolution_ = int(sl::RESOLUTION::AUTO); // AUTO
}
#if ZED_SDK_MAJOR_VERSION < 5
// Zed4 Supported: 0=HD4K 1=QHDPLUS 2=HD2K 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA
if(resolution_ == 3) // 3=HD1536
{
UWARN("Zed SDK v4 doesn't support HD1536, setting HD1200.");
resolution_ = 5; // 5=HD1200
}
if(resolution_ >=9) // 9=XVGA 10=TXVGA
{
UWARN("Zed SDK v4 doesn't support XVGA and TXVGA, setting VGA.");
resolution_ = 8; // 8=VGA
}
#endif
#endif
#if ZED_SDK_MAJOR_VERSION < 3
@@ -485,8 +499,11 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
// CORRUPTED_SDK_INSTALLATION on open() is typically a NEURAL depth mode whose optional
// neural/TensorRT runtime files aren't installed. Give a clear, actionable error.
if(r == sl::ERROR_CODE::CORRUPTED_SDK_INSTALLATION &&
param.depth_mode != sl::DEPTH_MODE::PERFORMANCE &&
param.depth_mode != sl::DEPTH_MODE::NONE)
#if ZED_SDK_MAJOR_VERSION >= 5
param.depth_mode >= sl::DEPTH_MODE::NEURAL_LIGHT)
#else
param.depth_mode >= sl::DEPTH_MODE::NEURAL)
#endif
{
UERROR("ZED open() returned \"%s\": the optional NEURAL/TensorRT runtime files are "
"likely missing. Install ZED SDK %d.%d, or select a non-NEURAL depth mode "