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0.11.7: Added ZED sdk support

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matlabbe
2016-05-31 19:09:49 -04:00
parent b2bb421063
commit 6f1f490370
31 changed files with 711 additions and 131 deletions
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9
guilib/src/CameraViewer.cpp
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@@ -47,12 +47,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
CameraViewer::CameraViewer(QWidget * parent) :
CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
QDialog(parent),
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
processingImages_(false),
validDecimationValue_(1)
validDecimationValue_(1),
parameters_(parameters)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
@@ -146,12 +147,12 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
if(!data.imageRaw().empty() && !data.depthOrRightRaw().empty())
{
showCloudCheckbox_->setEnabled(true);
cloudView_->addCloud("cloud", util3d::cloudRGBFromSensorData(data, validDecimationValue_));
cloudView_->addCloud("cloud", util3d::cloudRGBFromSensorData(data, validDecimationValue_, 0, 0, 0, parameters_));
}
else if(!data.depthOrRightRaw().empty())
{
showCloudCheckbox_->setEnabled(true);
cloudView_->addCloud("cloud", util3d::cloudFromSensorData(data, validDecimationValue_));
cloudView_->addCloud("cloud", util3d::cloudFromSensorData(data, validDecimationValue_, 0, 0, 0, parameters_));
}
}
}