Updated zed sdk5 resolution and quality

corelib/include/rtabmap/core/camera/CameraStereoZed.h

@@ -49,7 +49,7 @@ public:
 public:
 	CameraStereoZed(
 			int deviceId,
-			int resolution = -1, // -1 = AUTO, 0=HD4K 1=HD2K 2=HD1080 3=HD1200 4=HD720 5=SVGA 6=VGA
+			int resolution = -1, // -1 = AUTO, 0=HD4K 1=QHDPLUS 2=HD2K 3=HD1536 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA 9=XVGA 10=TXVGA
 			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY
 			int sensingMode = 0,// 0=STANDARD, 1=FILL
 			int confidenceThr = 100,

corelib/src/camera/CameraStereoZed.cpp

@@ -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
+#else 
-	{
-		resolution_ = 3; // VGA=3
-	}
-#else // ZED=4
 	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 &&
+#if ZED_SDK_MAJOR_VERSION >= 5
-	   param.depth_mode != sl::DEPTH_MODE::NONE)
+		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 "

guilib/src/PreferencesDialog.cpp

@@ -437,12 +437,29 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 		_ui->comboBox_cameraStereo->setItemData(kSrcStereoZed - kSrcStereo, 0, Qt::UserRole - 1);
 		_ui->comboBox_odom_sensor->setItemData(2, 0, Qt::UserRole - 1);
 	}
-	else if(CameraStereoZed::sdkVersion() < 4)
+	else
 	{
-		_ui->comboBox_stereoZed_resolution->setItemData(1, 0, Qt::UserRole - 1);
+		if(CameraStereoZed::sdkVersion() < 5)
-		_ui->comboBox_stereoZed_resolution->setItemData(4, 0, Qt::UserRole - 1);
+		{
-		_ui->comboBox_stereoZed_resolution->setItemData(6, 0, Qt::UserRole - 1);
+			// SDK 4.X
-		_ui->comboBox_stereoZed_quality->setItemData(3, 0, Qt::UserRole - 1);
+			_ui->comboBox_stereoZed_quality->setItemData(5, 0, Qt::UserRole - 1); // NEURAL_ULTRA
+			_ui->comboBox_stereoZed_resolution->setItemData(4, 0, Qt::UserRole - 1); //HD1536
+			_ui->comboBox_stereoZed_resolution->setItemData(10, 0, Qt::UserRole - 1); //XVGA
+			_ui->comboBox_stereoZed_resolution->setItemData(11, 0, Qt::UserRole - 1); //TXGA 
+		}
+		if(CameraStereoZed::sdkVersion() < 4)
+		{
+			// SDK 3.X
+			_ui->comboBox_stereoZed_quality->setItemData(4, 0, Qt::UserRole - 1); // NEURAL
+			_ui->comboBox_stereoZed_resolution->setItemData(1, 0, Qt::UserRole - 1); // HD4K
+			_ui->comboBox_stereoZed_resolution->setItemData(2, 0, Qt::UserRole - 1); // QHDPLUS
+			_ui->comboBox_stereoZed_resolution->setItemData(6, 0, Qt::UserRole - 1); // HD1200
+			_ui->comboBox_stereoZed_resolution->setItemData(8, 0, Qt::UserRole - 1); // SVGA
+		}
+		if(CameraStereoZed::sdkVersion() < 3)
+		{
+			_ui->comboBox_stereoZed_quality->setItemData(3, 0, Qt::UserRole - 1); // NEURAL_LIGHT
+		}
 	}
     if (!CameraStereoTara::available())
     {

guilib/src/ui/preferencesDialog.ui

@@ -5740,11 +5740,21 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                          <string>ULTRA</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>NEURAL LIGHT</string>
+                                        </property>
+                                       </item>
                                        <item>
                                         <property name="text">
                                          <string>NEURAL</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>NEURAL ULTRA</string>
+                                        </property>
+                                       </item>
                                       </widget>
                                      </item>
                                      <item row="5" column="1">
@@ -5903,11 +5913,21 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                          <string>HD4K</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>QHDPLUS</string>
+                                        </property>
+                                       </item>
                                        <item>
                                         <property name="text">
                                          <string>HD2K</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>HD1536</string>
+                                        </property>
+                                       </item>
                                        <item>
                                         <property name="text">
                                          <string>HD1080</string>
@@ -5933,6 +5953,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                          <string>VGA</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>XVGA</string>
+                                        </property>
+                                       </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>TXVGA</string>
+                                        </property>
+                                       </item>
                                       </widget>
                                      </item>
                                     </layout>