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Updated CameraStereoZed to latest zed sdk (2.4)

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This commit is contained in:
matlabbe
2018-06-03 02:40:19 -04:00
parent 432b0dc6f6
commit 9f22a2b1f8
2 changed files with 47 additions and 28 deletions
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60
corelib/src/CameraStereo.cpp
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@@ -855,7 +855,7 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
param.depth_mode=(sl::DEPTH_MODE)quality_;
param.coordinate_units=sl::UNIT_METER;
param.coordinate_system=(sl::COORDINATE_SYSTEM)sl::COORDINATE_SYSTEM_IMAGE ;
param.sdk_verbose=false;
param.sdk_verbose=true;
param.sdk_gpu_id=-1;
param.depth_minimum_distance=-1;
param.camera_disable_self_calib=!selfCalibration_;
@@ -877,7 +877,7 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
if(r!=sl::ERROR_CODE::SUCCESS)
{
UERROR("Camera initialization failed: \"%s\"", errorCode2str(r).c_str());
UERROR("Camera initialization failed: \"%s\"", toString(r).c_str());
delete zed_;
zed_ = 0;
return false;
@@ -888,19 +888,26 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
quality_, sl::UNIT_METER, sl::COORDINATE_SYSTEM_IMAGE , selfCalibration_?"true":"false");
UDEBUG("");
zed_->setConfidenceThreshold(confidenceThr_);
if(quality_!=sl::DEPTH_MODE_NONE)
{
zed_->setConfidenceThreshold(confidenceThr_);
}
if (computeOdometry_)
{
sl::TrackingParameters tparam;
tparam.enable_spatial_memory=false;
zed_->enableTracking(tparam);
if(r!=sl::ERROR_CODE::SUCCESS)
{
UERROR("Camera tracking initialization failed: \"%s\"", toString(r).c_str());
}
}
sl::CameraInformation infos = zed_->getCameraInformation();
sl::CalibrationParameters *stereoParams = &(infos.calibration_parameters );
sl::Resolution res = stereoParams->left_cam.image_size;
stereoModel_ = StereoCameraModel(
stereoParams->left_cam.fx,
stereoParams->left_cam.fy,
@@ -1032,28 +1039,37 @@ SensorData CameraStereoZed::captureImage(CameraInfo * info)
if (computeOdometry_ && info)
{
sl::Pose pose;
zed_->getPosition(pose);
int trackingConfidence = pose.pose_confidence;
// FIXME What does pose_confidence == -1 mean?
if (trackingConfidence>0)
sl::TRACKING_STATE tracking_state = zed_->getPosition(pose);
if (tracking_state == sl::TRACKING_STATE_OK)
{
info->odomPose = zedPoseToTransform(pose);
if (!info->odomPose.isNull())
int trackingConfidence = pose.pose_confidence;
// FIXME What does pose_confidence == -1 mean?
if (trackingConfidence>0)
{
//transform x->forward, y->left, z->up
Transform opticalTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
info->odomPose = opticalTransform * info->odomPose * opticalTransform.inverse();
if (lost_)
info->odomPose = zedPoseToTransform(pose);
if (!info->odomPose.isNull())
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // don't know transform with previous pose
lost_ = false;
UDEBUG("Init %s (var=%f)", info->odomPose.prettyPrint().c_str(), 9999.0f);
//transform x->forward, y->left, z->up
Transform opticalTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
info->odomPose = opticalTransform * info->odomPose * opticalTransform.inverse();
if (lost_)
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // don't know transform with previous pose
lost_ = false;
UDEBUG("Init %s (var=%f)", info->odomPose.prettyPrint().c_str(), 9999.0f);
}
else
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 1.0f / float(trackingConfidence);
UDEBUG("Run %s (var=%f)", info->odomPose.prettyPrint().c_str(), 1.0f / float(trackingConfidence));
}
}
else
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 1.0f / float(trackingConfidence);
UDEBUG("Run %s (var=%f)", info->odomPose.prettyPrint().c_str(), 1.0f / float(trackingConfidence));
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // lost
lost_ = true;
UWARN("ZED lost! (trackingConfidence=%d)", trackingConfidence);
}
}
else
@@ -1065,9 +1081,7 @@ SensorData CameraStereoZed::captureImage(CameraInfo * info)
}
else
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // lost
lost_ = true;
UWARN("ZED lost! (trackingConfidence=%d)", trackingConfidence);
UWARN("Tracking not ok: state=\"%s\"", toString(tracking_state).c_str());
}
}
}