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Updated zed sdk5 resolution and quality

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This commit is contained in:
matlabbe
2026-07-02 23:00:47 -07:00
parent 3a95215c99
commit 405be6675a
4 changed files with 62 additions and 46 deletions
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corelib/include/rtabmap/core/camera/CameraStereoZed.h
+2 -2
View File
@@ -50,7 +50,7 @@ public:
CameraStereoZed(
int deviceId,
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 quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=ULTRA, 4=NEURAL_LIGHT, 5=NEURAL, 6=NEURAL_ULTRA
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
@@ -61,7 +61,7 @@ public:
int texturenessConfidenceThr = 90); // introduced with ZED SDK 3
CameraStereoZed(
const std::string & svoFilePath,
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=NEURAL
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=ULTRA, 4=NEURAL_LIGHT, 5=NEURAL, 6=NEURAL_ULTRA
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
corelib/src/camera/CameraStereoZed.cpp
+57 -41
View File
@@ -78,7 +78,7 @@ static cv::Mat slMat2cvMat(sl::Mat& input) {
#endif
}
Transform zedPoseToTransform(const sl::Pose & pose)
static Transform zedPoseToTransform(const sl::Pose & pose)
{
return Transform(
pose.pose_data.m[0], pose.pose_data.m[1], pose.pose_data.m[2], pose.pose_data.m[3],
@@ -87,7 +87,7 @@ Transform zedPoseToTransform(const sl::Pose & pose)
}
#if ZED_SDK_MAJOR_VERSION < 3
IMU zedIMUtoIMU(const sl::IMUData & imuData, const Transform & imuLocalTransform)
static IMU zedIMUtoIMU(const sl::IMUData & imuData, const Transform & imuLocalTransform)
{
sl::Orientation orientation = imuData.pose_data.getOrientation();
@@ -125,7 +125,7 @@ IMU zedIMUtoIMU(const sl::IMUData & imuData, const Transform & imuLocalTransform
imuLocalTransform);
}
#else
IMU zedIMUtoIMU(const sl::SensorsData & sensorData, const Transform & imuLocalTransform)
static IMU zedIMUtoIMU(const sl::SensorsData & sensorData, const Transform & imuLocalTransform)
{
sl::Orientation orientation = sensorData.imu.pose.getOrientation();
@@ -166,7 +166,7 @@ IMU zedIMUtoIMU(const sl::SensorsData & sensorData, const Transform & imuLocalTr
// sl::SensorsData::imu.is_available only means the camera has an IMU; a returned
// sample can still contain NaN pose/accel/gyro (e.g. before the IMU fusion has
// initialized, or in SVO/STREAM mode). Validate the actual measurements.
bool isImuValid(const sl::SensorsData & sensorData)
static bool isImuValid(const sl::SensorsData & sensorData)
{
if(!sensorData.imu.is_available)
{
@@ -269,6 +269,56 @@ int CameraStereoZed::sdkVersion()
#endif
}
#ifdef RTABMAP_ZED
static void backwardCompatibility(int & resolution, int & quality)
{
// -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
// Zed3 Supported: 2=HD2K 4=HD1080 6=HD720 8=VGA
if(resolution == 0 || resolution == 1) // 0=HD4K 1=QHDPLUS
{
UWARN("Zed SDK v3 doesn't support HD4K and QHDPLUS, setting HD2K.");
resolution = 2; // 2=HD2K
}
if(resolution == 3 || resolution == 5) // 3=HD1536 5=HD1200
{
UWARN("Zed SDK v3 doesn't support HD1536 and HD1200, setting HD1080.");
resolution = 4; // 4=HD1080
}
if(resolution == 7 || resolution >=9) // 7=SVGA 9=XVGA 10=TXVGA
{
UWARN("Zed SDK v3 doesn't support SVGA, XVGA and TXVGA, setting VGA.");
resolution = 8; // 8=VGA
}
if(quality == 4) { // 4=NEURAL_LIGHT 6=NEURAL_PLUS
UWARN("Zed SDK v3 doesn't support NEURAL_LIGHT and NEURAL PLUS, setting NEURAL.");
quality = 5; // NEURAL
}
#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
}
if(quality > 5) { // NEURAL_PLUS
UWARN("Zed SDK v4 doesn't support NEURAL_LIGHT and NEURAL PLUS, setting NEURAL.");
quality = 5; // NEURAL
}
#endif
#endif
}
#endif
CameraStereoZed::CameraStereoZed(
int deviceId,
@@ -303,43 +353,8 @@ 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
// Zed3 Supported: 2=HD2K 4=HD1080 6=HD720 8=VGA
if(resolution_ == 0 || resolution_ == 1) // 0=HD4K 1=QHDPLUS
{
UWARN("Zed SDK v4 doesn't support HD4K and QHDPLUS, setting HD2K.");
resolution_ = 2; // 2=HD2K
}
if(resolution_ == 3 || resolution_ == 5) // 3=HD1536 5=HD1200
{
UWARN("Zed SDK v4 doesn't support HD1536 and HD1200, setting HD1080.");
resolution_ = 4; // 4=HD1080
}
if(resolution_ == 7 || resolution_ >=9) // 7=SVGA 9=XVGA 10=TXVGA
{
UWARN("Zed SDK v4 doesn't support SVGA, XVGA and TXVGA, setting VGA.");
resolution_ = 8; // 8=VGA
}
#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
backwardCompatibility(resolution_, quality_);
#if ZED_SDK_MAJOR_VERSION < 3
UASSERT(resolution_ >= sl::RESOLUTION_HD2K && resolution_ <sl::RESOLUTION_LAST);
@@ -403,6 +418,7 @@ CameraStereoZed::CameraStereoZed(
{
UDEBUG("");
#ifdef RTABMAP_ZED
backwardCompatibility(resolution_, quality_);
#if ZED_SDK_MAJOR_VERSION < 3
UASSERT(resolution_ >= sl::RESOLUTION_HD2K && resolution_ <sl::RESOLUTION_LAST);
UASSERT(quality_ >= sl::DEPTH_MODE_NONE && quality_ <sl::DEPTH_MODE_LAST);