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Fixed ZED driver timestamp. Re-ordered build include dirs to keep opencv in front. Fixed build with OpenCV 4.7.0.

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matlabbe
2024-09-01 03:55:29 -07:00
parent 58b466288d
commit 5580e78273
3 changed files with 11 additions and 10 deletions
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6
corelib/src/CMakeLists.txt
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@@ -820,10 +820,6 @@ ADD_CUSTOM_COMMAND(
add_definitions(${PCL_DEFINITIONS}) add_definitions(${PCL_DEFINITIONS})
# Make sure the compiler can find include files from our library.
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# Add binary that is built from the source file "main.cpp". # Add binary that is built from the source file "main.cpp".
# The extension is automatically found. # The extension is automatically found.
ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS}) ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS})
@@ -833,7 +829,7 @@ generate_export_header(rtabmap_core
DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED) DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED)
target_include_directories(rtabmap_core PUBLIC target_include_directories(rtabmap_core PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include;${PUBLIC_INCLUDE_DIRS}>" "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include;${PUBLIC_INCLUDE_DIRS};${INCLUDE_DIRS}>"
"$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR};${PUBLIC_INCLUDE_DIRS}>") "$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR};${PUBLIC_INCLUDE_DIRS}>")
TARGET_LINK_LIBRARIES(rtabmap_core TARGET_LINK_LIBRARIES(rtabmap_core

9
corelib/src/camera/CameraStereoZed.cpp
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@@ -219,7 +219,7 @@ private:
sl::ERROR_CODE res = zed_->getSensorsData(sensordata, sl::TIME_REFERENCE::CURRENT); sl::ERROR_CODE res = zed_->getSensorsData(sensordata, sl::TIME_REFERENCE::CURRENT);
if(res == sl::ERROR_CODE::SUCCESS && sensordata.imu.is_available) if(res == sl::ERROR_CODE::SUCCESS && sensordata.imu.is_available)
{ {
camera_->postInterIMUPublic(zedIMUtoIMU(sensordata, imuLocalTransform_), double(sensordata.imu.timestamp)/10e9); camera_->postInterIMUPublic(zedIMUtoIMU(sensordata, imuLocalTransform_), double(sensordata.imu.timestamp.getNanoseconds())/10e8);
} }
#endif #endif
} }
@@ -715,7 +715,7 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
{ {
sl::SensorsData imudatatmp; sl::SensorsData imudatatmp;
res = zed_->getSensorsData(imudatatmp, sl::TIME_REFERENCE::IMAGE); res = zed_->getSensorsData(imudatatmp, sl::TIME_REFERENCE::IMAGE);
imuReceived = res == sl::ERROR_CODE::SUCCESS && imudatatmp.imu.is_available && imudatatmp.imu.timestamp.data_ns != 0; imuReceived = res == sl::ERROR_CODE::SUCCESS && imudatatmp.imu.is_available && imudatatmp.imu.timestamp.getNanoseconds() != 0;
} }
} }
while(src_ == CameraVideo::kUsbDevice && (res!=sl::ERROR_CODE::SUCCESS || !imuReceived) && timer.elapsed() < 2.0); while(src_ == CameraVideo::kUsbDevice && (res!=sl::ERROR_CODE::SUCCESS || !imuReceived) && timer.elapsed() < 2.0);
@@ -749,8 +749,9 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
#if ZED_SDK_MAJOR_VERSION < 3 #if ZED_SDK_MAJOR_VERSION < 3
data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), UTimer::now()); data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), UTimer::now());
#else #else
data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), double(timestamp)/10e9); data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), double(timestamp.getNanoseconds())/10e8);
#endif #endif
UWARN("data stamp = %f", data.stamp());
} }
else else
{ {
@@ -766,7 +767,7 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
#if ZED_SDK_MAJOR_VERSION < 3 #if ZED_SDK_MAJOR_VERSION < 3
data = SensorData(left, right, stereoModel_, this->getNextSeqID(), UTimer::now()); data = SensorData(left, right, stereoModel_, this->getNextSeqID(), UTimer::now());
#else #else
data = SensorData(left, right, stereoModel_, this->getNextSeqID(), double(timestamp)/10e9); data = SensorData(left, right, stereoModel_, this->getNextSeqID(), double(timestamp.getNanoseconds())/10e8);
#endif #endif
} }

6
guilib/src/CalibrationDialog.cpp
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@@ -161,8 +161,10 @@ CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirector
#ifndef HAVE_CHARUCO #ifndef HAVE_CHARUCO
ui_->comboBox_board_type->setItemData(1, 0, Qt::UserRole - 1); ui_->comboBox_board_type->setItemData(1, 0, Qt::UserRole - 1);
ui_->comboBox_board_type->setItemData(2, 0, Qt::UserRole - 1); ui_->comboBox_board_type->setItemData(2, 0, Qt::UserRole - 1);
#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 7) #elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 6)
ui_->comboBox_board_type->setItemData(2, 0, Qt::UserRole - 1); ui_->comboBox_board_type->setItemData(2, 0, Qt::UserRole - 1);
#elif CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 8
ui_->comboBox_board_type->setItemData(1, 0, Qt::UserRole - 1);
#endif #endif
} }
@@ -1289,7 +1291,9 @@ void CalibrationDialog::restart()
ui_->doubleSpinBox_squareSize->value(), ui_->doubleSpinBox_squareSize->value(),
ui_->doubleSpinBox_markerLength->value(), ui_->doubleSpinBox_markerLength->value(),
*markerDictionary_)); *markerDictionary_));
#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 8)
charucoBoard_->setLegacyPattern(ui_->comboBox_board_type->currentIndex()==1); charucoBoard_->setLegacyPattern(ui_->comboBox_board_type->currentIndex()==1);
#endif
arucoDetector_.reset(new cv::aruco::ArucoDetector(*markerDictionary_, *arucoDetectorParams_)); arucoDetector_.reset(new cv::aruco::ArucoDetector(*markerDictionary_, *arucoDetectorParams_));
charucoDetector_.reset(new cv::aruco::CharucoDetector(*charucoBoard_, cv::aruco::CharucoParameters(), *arucoDetectorParams_)); charucoDetector_.reset(new cv::aruco::CharucoDetector(*charucoBoard_, cv::aruco::CharucoParameters(), *arucoDetectorParams_));
#else #else