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zed 2.0: fixed sensing mode order, fixed conversion from zed pose to transform (when zed odometry is enabled)

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matlabbe
2017-04-18 20:16:04 -04:00
parent 732223e832
commit 42fb02c36f
4 changed files with 29 additions and 13 deletions
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4
corelib/include/rtabmap/core/CameraStereo.h
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@@ -118,7 +118,7 @@ public:
int deviceId,
int resolution = 2, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 1,// 0=FULL, 1=RAW
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
@@ -127,7 +127,7 @@ public:
CameraStereoZed(
const std::string & svoFilePath,
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 1,// 0=FULL, 1=RAW
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,