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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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14
tools/CameraRGBD/main.cpp
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@@ -63,6 +63,7 @@ void showUsage()
" 11=RealSense2\n"
" 12=Kinect for Azure SDK\n"
" 13=MYNT EYE S\n"
" 14=ZED Open Capture\n"
" Options:\n"
" -rate #.# Input rate Hz (default 0=inf)\n"
" -device # Device ID (number or string)\n"
@@ -174,9 +175,9 @@ int main(int argc, char * argv[])
// last
driver = atoi(argv[i]);
if(driver < 0 || driver > 13)
if(driver < 0 || driver > 14)
{
UERROR("driver should be between 0 and 13.");
UERROR("driver should be between 0 and 14.");
showUsage();
}
}
@@ -314,6 +315,15 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraMyntEye(deviceId);
}
else if (driver == 14)
{
if (!rtabmap::CameraStereoZedOC::available())
{
UERROR("Not built with Zed Open Capture support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZedOC(uStr2Int(deviceId));
}
else
{
UFATAL("");