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Added CameraStereoZedOC (Zed Open Capture driver).

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* Added CameraStereoZedOC (Zed Open Capture driver). Calibration: added stereo baseline option, show warning if fx is very different after stereo calibration.

* Fixed build without Zed Open Capture. Fixed "any" prefix added to all tools when WITH_ZEDOC=ON. UI: fixed Zed Open Capture action not disabled when not built with it.
This commit is contained in:
matlabbe
2021-02-28 10:31:18 -05:00
committed by GitHub
parent 862eb0a90a
commit 967c57d165
21 changed files with 1495 additions and 87 deletions
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29
CMakeLists.txt
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@@ -183,6 +183,7 @@ option(WITH_POINTMATCHER "Include libpointmatcher support" ON)
option(WITH_LOAM "Include LOAM support" ON)
option(WITH_FLYCAPTURE2 "Include FlyCapture2/Triclops support" ON)
option(WITH_ZED "Include ZED sdk support" ON)
option(WITH_ZEDOC "Include ZED Open Capture support" ON)
option(WITH_REALSENSE "Include RealSense support" ON)
option(WITH_REALSENSE_SLAM "Include RealSenseSlam support" ON)
option(WITH_REALSENSE2 "Include RealSense support" ON)
@@ -474,6 +475,20 @@ IF(WITH_ZED)
ENDIF(ZED_FOUND)
ENDIF(WITH_ZED)
IF(WITH_ZEDOC)
find_package(ZEDOC QUIET)
IF(ZEDOC_FOUND)
MESSAGE(STATUS "Found ZED Open Capture: ${ZEDOC_INCLUDE_DIRS}")
## look for HIDAPI
find_package(HIDAPI)
IF(HIDAPI_FOUND)
MESSAGE(STATUS "Found HIDAPI: ${HIDAPI_INCLUDE_DIRS}")
ELSE()
MESSAGE(FATAL_ERROR "HIDAPI is required to build with Zed Open Capture! Set -DWITH_ZEDOC=OFF if you don't have HIDAPI.")
ENDIF()
ENDIF(ZEDOC_FOUND)
ENDIF(WITH_ZEDOC)
IF(WITH_REALSENSE)
IF(WITH_REALSENSE_SLAM)
FIND_PACKAGE(RealSense QUIET COMPONENTS slam)
@@ -638,6 +653,7 @@ IF(NOT MSVC)
GTSAM_FOUND OR
CERES_FOUND OR
ZED_FOUND OR
ZEDOC_FOUND OR
ANDROID OR
RealSense_FOUND OR
realsense2_FOUND OR
@@ -791,6 +807,11 @@ IF(NOT ZED_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZED_LIBRARIES} ${CUDA_LIBRARIES})
ENDIF()
IF(NOT ZEDOC_FOUND)
SET(ZEDOC "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZEDOC_LIBRARIES})
ENDIF()
IF(NOT RealSense_FOUND)
SET(REALSENSE "//")
ELSE()
@@ -1324,6 +1345,14 @@ ELSE()
MESSAGE(STATUS " With ZED = NO (ZED sdk and/or cuda not found)")
ENDIF()
IF(ZEDOC_FOUND)
MESSAGE(STATUS " With ZEDOC = YES")
ELSEIF(NOT WITH_ZEDOC)
MESSAGE(STATUS " With ZEDOC = NO (WITH_ZEDOC=OFF)")
ELSE()
MESSAGE(STATUS " With ZEDOC = NO (ZED Open Capture not found)")
ENDIF()
IF(RealSense_FOUND)
MESSAGE(STATUS " With RealSense = YES (License: Apache-2)")
IF(RealSenseSlam_FOUND)