0.11.7: Added ZED sdk support

guilib/include/rtabmap/gui/CameraViewer.h

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UEventsHandler.h>
 #include <QDialog>
 #include <rtabmap/core/SensorData.h>
+#include <rtabmap/core/Parameters.h>
 
 class QSpinBox;
 class QCheckBox;
@@ -47,7 +48,9 @@ class RTABMAPGUI_EXP CameraViewer : public QDialog, public UEventsHandler
 {
 	Q_OBJECT
 public:
-	CameraViewer(QWidget * parent = 0);
+	CameraViewer(
+		QWidget * parent = 0,
+		const ParametersMap & parameters = ParametersMap());
 	virtual ~CameraViewer();
 
 public slots:
@@ -61,6 +64,7 @@ private:
 	bool processingImages_;
 	QSpinBox * decimationSpin_;
 	int validDecimationValue_;
+	ParametersMap parameters_;
 	QPushButton * pause_;
 	QCheckBox * showCloudCheckbox_;
 	QCheckBox * showScanCheckbox_;

guilib/include/rtabmap/gui/LoopClosureViewer.h

@@ -57,7 +57,7 @@ public slots:
 	void setDecimation(int decimation) {decimation_ = decimation;}
 	void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
 	void setMinDepth(int minDepth) {minDepth_ = minDepth;}
-	void updateView(const Transform & AtoB = Transform());
+	void updateView(const Transform & AtoB = Transform(), const ParametersMap & parameters = ParametersMap());
 
 protected:
 	virtual void showEvent(QShowEvent * event);

guilib/include/rtabmap/gui/MainWindow.h

@@ -153,6 +153,8 @@ private slots:
 	void selectFreenect2();
 	void selectStereoDC1394();
 	void selectStereoFlyCapture2();
+	void selectStereoZed();
+	void selectStereoUsb();
 	void dumpTheMemory();
 	void dumpThePrediction();
 	void sendGoal();

guilib/include/rtabmap/gui/OdometryViewer.h

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 
 #include "rtabmap/core/OdometryEvent.h"
+#include "rtabmap/core/Parameters.h"
 #include <QDialog>
 #include "rtabmap/utilite/UEventsHandler.h"
 
@@ -49,7 +50,14 @@ class RTABMAPGUI_EXP OdometryViewer : public QDialog, public UEventsHandler
 	Q_OBJECT
 
 public:
-	OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, float maxDepth = 0, int qualityWarningThr=0, QWidget * parent = 0);
+	OdometryViewer(
+		int maxClouds = 10, 
+		int decimation = 2, 
+		float voxelSize = 0.0f, 
+		float maxDepth = 0, 
+		int qualityWarningThr=0, 
+		QWidget * parent = 0,
+		const ParametersMap & parameters = ParametersMap());
 	virtual ~OdometryViewer();
 
 public slots:
@@ -83,6 +91,7 @@ private:
 	QCheckBox * featuresShown_;
 	QLabel * timeLabel_;
 	int validDecimationValue_;
+	ParametersMap parameters_;
 };
 
 } /* namespace rtabmap */

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -96,6 +96,8 @@ public:
 		kSrcFlyCapture2    = 101,
 		kSrcStereoImages   = 102,
 		kSrcStereoVideo    = 103,
+		kSrcStereoZed      = 104,
+		kSrcStereoUsb      = 105,
 
 		kSrcRGB            = 200,
 		kSrcUsbDevice      = 200,