i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

ZED: Added self calibration option (default false)

Browse Source
This commit is contained in:
matlabbe
2016-10-25 16:06:55 -04:00
parent 063e019653
commit d102c43f9a
4 changed files with 142 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
corelib/src/CameraStereo.cpp
View File

@@ -755,7 +755,8 @@ CameraStereoZed::CameraStereoZed(
int confidenceThr,
bool computeOdometry,
float imageRate,
const Transform & localTransform) :
const Transform & localTransform,
bool selfCalibration) :
Camera(imageRate, localTransform),
zed_(0),
src_(CameraVideo::kUsbDevice),
@@ -763,11 +764,13 @@ CameraStereoZed::CameraStereoZed(
svoFilePath_(""),
resolution_(resolution),
quality_(quality),
selfCalibration_(selfCalibration),
sensingMode_(sensingMode),
confidenceThr_(confidenceThr),
computeOdometry_(computeOdometry),
lost_(true)
{
UDEBUG("");
#ifdef RTABMAP_ZED
UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
UASSERT(quality_ >= sl::zed::NONE && quality_ <sl::zed::LAST_MODE);
@@ -783,7 +786,8 @@ CameraStereoZed::CameraStereoZed(
int confidenceThr,
bool computeOdometry,
float imageRate,
const Transform & localTransform) :
const Transform & localTransform,
bool selfCalibration) :
Camera(imageRate, localTransform),
zed_(0),
src_(CameraVideo::kVideoFile),
@@ -791,11 +795,13 @@ CameraStereoZed::CameraStereoZed(
svoFilePath_(filePath),
resolution_(2),
quality_(quality),
selfCalibration_(selfCalibration),
sensingMode_(sensingMode),
confidenceThr_(confidenceThr),
computeOdometry_(computeOdometry),
lost_(true)
{
UDEBUG("");
#ifdef RTABMAP_ZED
UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
UASSERT(quality_ >= sl::zed::NONE && quality_ <sl::zed::LAST_MODE);
@@ -816,6 +822,7 @@ CameraStereoZed::~CameraStereoZed()
bool CameraStereoZed::init(const std::string & calibrationFolder, const std::string & cameraName)
{
UDEBUG("");
#ifdef RTABMAP_ZED
if(zed_)
{
@@ -826,32 +833,29 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
lost_ = true;
if(src_ == CameraVideo::kVideoFile)
{
UINFO("svo file = %s", svoFilePath_.c_str());
zed_ = new sl::zed::Camera(svoFilePath_); // Use in SVO playback mode
}
else
{
if(zed_->isZEDconnected())
{
zed_ = new sl::zed::Camera((sl::zed::ZEDResolution_mode)resolution_, getImageRate(), usbDevice_); // Use in Live Mode
}
else
{
UERROR("ZED camera initialization failed: ZED is not connected!");
return false;
}
UINFO("Resolution=%d imagerate=%f device=%d", resolution_, getImageRate(), usbDevice_);
zed_ = new sl::zed::Camera((sl::zed::ZEDResolution_mode)resolution_, getImageRate(), usbDevice_); // Use in Live Mode
}
//init WITH self-calibration
sl::zed::InitParams parameters(
(sl::zed::MODE)quality_, //MODE
sl::zed::METER, //UNIT
sl::zed::IMAGE, //COORDINATE_SYSTEM
(sl::zed::UNIT)sl::zed::METER, //UNIT
(sl::zed::COORDINATE_SYSTEM)sl::zed::IMAGE, //COORDINATE_SYSTEM
false, // verbose
-1, //device
-1, //device (GPU)
-1., //minDist
false, //disableSelfCalib
!selfCalibration_, //disableSelfCalib: false = self calibrated
false); //vflip
UINFO("Init ZED: Mode=%d Unit=%d CoordinateSystem=%d Verbose=false device=-1 minDist=-1 self-calibration=%s vflip=false",
quality_, sl::zed::METER, sl::zed::IMAGE, selfCalibration_?"true":"false");
sl::zed::ERRCODE err = zed_->init(parameters);
UDEBUG("");
// Quit if an error occurred
if (err != sl::zed::SUCCESS)