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Fixed build with ZED SDK 1.0.0 (#85)

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This commit is contained in:
matlabbe
2016-06-23 15:40:11 -04:00
parent f2d48cb894
commit 70da8d26c0
2 changed files with 98 additions and 25 deletions
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corelib/src/CameraStereo.cpp
+18 -13
View File
@@ -766,9 +766,9 @@ CameraStereoZed::CameraStereoZed(
confidenceThr_(confidenceThr)
{
#ifdef RTABMAP_ZED
UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <=sl::zed::VGA);
UASSERT(quality_ >= sl::zed::NONE && quality_ <=sl::zed::QUALITY);
UASSERT(sensingMode_ >= sl::zed::FULL && sensingMode_ <=sl::zed::RAW);
UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
UASSERT(quality_ >= sl::zed::NONE && quality_ <sl::zed::LAST_MODE);
UASSERT(sensingMode_ >= sl::zed::FILL && sensingMode_ <sl::zed::LAST_SENSING_MODE);
UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
#endif
}
@@ -791,9 +791,9 @@ CameraStereoZed::CameraStereoZed(
confidenceThr_(confidenceThr)
{
#ifdef RTABMAP_ZED
UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <=sl::zed::VGA);
UASSERT(quality_ >= sl::zed::NONE && quality_ <=sl::zed::QUALITY);
UASSERT(sensingMode_ >= sl::zed::FULL && sensingMode_ <=sl::zed::RAW);
UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
UASSERT(quality_ >= sl::zed::NONE && quality_ <sl::zed::LAST_MODE);
UASSERT(sensingMode_ >= sl::zed::FILL && sensingMode_ <sl::zed::LAST_SENSING_MODE);
UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
#endif
}
@@ -835,11 +835,17 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
}
}
//init WITH self-calibration (- last parameter to false -)
sl::zed::ERRCODE err = zed_->init(
(sl::zed::MODE)quality_,
-1, // search for any GPU
true, false, false);
//init WITH self-calibration
sl::zed::InitParams parameters(
(sl::zed::MODE)quality_, //MODE
sl::zed::METER, //UNIT
sl::zed::IMAGE, //COORDINATE_SYSTEM
false, // verbose
-1, //device
-1., //minDist
false, //disableSelfCalib
false); //vflip
sl::zed::ERRCODE err = zed_->init(parameters);
// Quit if an error occurred
if (err != sl::zed::SUCCESS)
@@ -860,7 +866,7 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
stereoParams->LeftCam.fy,
stereoParams->LeftCam.cx,
stereoParams->LeftCam.cy,
stereoParams->baseline/1000.0f,
stereoParams->baseline,
this->getLocalTransform(),
cv::Size(res.width, res.height));
@@ -913,7 +919,6 @@ SensorData CameraStereoZed::captureImage()
// get depth image
cv::Mat depth;
slMat2cvMat(zed_->retrieveMeasure(sl::zed::MEASURE::DEPTH)).copyTo(depth);
depth /= 1000.0; // to meters
data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), UTimer::now());
}
guilib/src/ui/preferencesDialog.ui
+80 -12
View File
@@ -63,16 +63,25 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-477</y>
<width>686</width>
<height>2023</height>
<y>-265</y>
<width>685</width>
<height>1826</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -3034,12 +3043,12 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
<item>
<property name="text">
<string>FULL</string>
<string>FILL</string>
</property>
</item>
<item>
<property name="text">
<string>RAW</string>
<string>STANDARD</string>
</property>
</item>
</widget>
@@ -3111,6 +3120,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>PERFORMANCE</string>
</property>
</item>
<item>
<property name="text">
<string>MEDIUM</string>
</property>
</item>
<item>
<property name="text">
<string>QUALITY</string>
@@ -3628,7 +3642,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -8785,7 +8808,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -8925,7 +8957,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -9083,7 +9124,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -9163,7 +9213,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -9275,7 +9334,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>