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Fixed zed build errors (windows, #1207)

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matlabbe
2024-01-31 07:17:04 -08:00
parent c27507bc77
commit b2a86d640a
1 changed files with 30 additions and 12 deletions
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42
corelib/src/camera/CameraStereoZed.cpp
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@@ -501,32 +501,47 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
#endif #endif
sl::Resolution res = stereoParams->left_cam.image_size; sl::Resolution res = stereoParams->left_cam.image_size;
#if ZED_SDK_MAJOR_VERSION < 4
stereoModel_ = StereoCameraModel(
stereoParams->left_cam.fx,
stereoParams->left_cam.fy,
stereoParams->left_cam.cx,
stereoParams->left_cam.cy,
stereoParams->T[0],//baseline
this->getLocalTransform(),
cv::Size(res.width, res.height));
#else
stereoModel_ = StereoCameraModel( stereoModel_ = StereoCameraModel(
stereoParams->left_cam.fx, stereoParams->left_cam.fx,
stereoParams->left_cam.fy, stereoParams->left_cam.fy,
stereoParams->left_cam.cx, stereoParams->left_cam.cx,
stereoParams->left_cam.cy, stereoParams->left_cam.cy,
#if ZED_SDK_MAJOR_VERSION < 4
stereoParams->T[0],//baseline
#else
stereoParams->getCameraBaseline(), stereoParams->getCameraBaseline(),
#endif
this->getLocalTransform(), this->getLocalTransform(),
cv::Size(res.width, res.height)); cv::Size(res.width, res.height));
#endif
#if ZED_SDK_MAJOR_VERSION < 4
UINFO("Calibration: fx=%f, fy=%f, cx=%f, cy=%f, baseline=%f, width=%d, height=%d, transform=%s",
stereoParams->left_cam.fx,
stereoParams->left_cam.fy,
stereoParams->left_cam.cx,
stereoParams->left_cam.cy,
stereoParams->T[0],//baseline
(int)res.width,
(int)res.height,
this->getLocalTransform().prettyPrint().c_str());
#else
UINFO("Calibration: fx=%f, fy=%f, cx=%f, cy=%f, baseline=%f, width=%d, height=%d, transform=%s", UINFO("Calibration: fx=%f, fy=%f, cx=%f, cy=%f, baseline=%f, width=%d, height=%d, transform=%s",
stereoParams->left_cam.fx, stereoParams->left_cam.fx,
stereoParams->left_cam.fy, stereoParams->left_cam.fy,
stereoParams->left_cam.cx, stereoParams->left_cam.cx,
stereoParams->left_cam.cy, stereoParams->left_cam.cy,
#if ZED_SDK_MAJOR_VERSION < 4
stereoParams->T[0],//baseline
#else
stereoParams->getCameraBaseline(), stereoParams->getCameraBaseline(),
#endif
(int)res.width, (int)res.width,
(int)res.height, (int)res.height,
this->getLocalTransform().prettyPrint().c_str()); this->getLocalTransform().prettyPrint().c_str());
#endif
#if ZED_SDK_MAJOR_VERSION < 3 #if ZED_SDK_MAJOR_VERSION < 3
if(infos.camera_model == sl::MODEL_ZED_M) if(infos.camera_model == sl::MODEL_ZED_M)
@@ -539,12 +554,15 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
#else #else
imuLocalTransform_ = this->getLocalTransform() * zedPoseToTransform(infos.sensors_configuration.camera_imu_transform).inverse(); imuLocalTransform_ = this->getLocalTransform() * zedPoseToTransform(infos.sensors_configuration.camera_imu_transform).inverse();
#endif #endif
UINFO("IMU local transform: %s (imu2cam=%s))",
imuLocalTransform_.prettyPrint().c_str(),
#if ZED_SDK_MAJOR_VERSION < 4 #if ZED_SDK_MAJOR_VERSION < 4
zedPoseToTransform(infos.camera_imu_transform).prettyPrint().c_str()); UINFO("IMU local transform: %s (imu2cam=%s))",
imuLocalTransform_.prettyPrint().c_str(),
zedPoseToTransform(infos.camera_imu_transform).prettyPrint().c_str());
#else #else
zedPoseToTransform(infos.sensors_configuration.camera_imu_transform).prettyPrint().c_str()); UINFO("IMU local transform: %s (imu2cam=%s))",
imuLocalTransform_.prettyPrint().c_str(),
zedPoseToTransform(infos.sensors_configuration.camera_imu_transform).prettyPrint().c_str());
#endif #endif
if(publishInterIMU_) if(publishInterIMU_)
{ {