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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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31
corelib/src/CameraStereo.cpp
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@@ -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());
}