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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.
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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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83
corelib/include/rtabmap/core/camera/CameraStereoZedOC.h Normal file
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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
namespace sl_oc {
namespace video {
class VideoCapture;
}
namespace sensors {
class SensorCapture;
}
}
namespace rtabmap
{
class ZedOCThread;
class RTABMAP_EXP CameraStereoZedOC :
public Camera
{
public:
static bool available();
public:
CameraStereoZedOC(
int deviceId,
int resolution = 3, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraStereoZedOC();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_ZEDOC
sl_oc::video::VideoCapture * zed_;
sl_oc::sensors::SensorCapture * sensors_;
ZedOCThread * imuThread_;
StereoCameraModel stereoModel_;
int usbDevice_;
int resolution_;
uint64_t lastStamp_;
#endif
};
} // namespace rtabmap