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0.11.7: Added ZED sdk support

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This commit is contained in:
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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14
tools/CameraRGBD/main.cpp
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@@ -53,6 +53,7 @@ void showUsage()
" 5=Freenect2 (Kinect v2)\n"
" 6=DC1394 (Bumblebee2)\n"
" 7=FlyCapture2 (Bumblebee2)\n"
" 8=ZED stereo\n"
" Options:\n"
" -rate #.# Input rate Hz (default 0=inf)\n"
" -save_stereo \"path\" Save stereo images in a folder or a video file (side by side *.avi).\n"
@@ -149,9 +150,9 @@ int main(int argc, char * argv[])
// last
driver = atoi(argv[i]);
if(driver < 0 || driver > 7)
if(driver < 0 || driver > 8)
{
UERROR("driver should be between 0 and 6.");
UERROR("driver should be between 0 and 8.");
showUsage();
}
}
@@ -235,6 +236,15 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraStereoFlyCapture2();
}
else if(driver == 8)
{
if(!rtabmap::CameraStereoZed::available())
{
UERROR("Not built with ZED sdk support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZed(true);
}
else
{
UFATAL("");