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Added ZED parameters

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matlabbe
2016-06-02 17:27:12 -04:00
parent 9430bcbf2e
commit d9611f784c
8 changed files with 403 additions and 184 deletions
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24
corelib/include/rtabmap/core/CameraStereo.h
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@@ -112,7 +112,21 @@ public:
static bool available();
public:
CameraStereoZed(bool rgbdMode, float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
CameraStereoZed(
int deviceId,
int resolution = 2, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 1,// 0=FULL, 1=RAW
int confidenceThr = 100,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoZed(
const std::string & svoFilePath,
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 1,// 0=FULL, 1=RAW
int confidenceThr = 100,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoZed();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -125,7 +139,13 @@ protected:
private:
sl::zed::Camera * zed_;
StereoCameraModel stereoModel_;
bool rgbdMode_;
CameraVideo::Source src_;
int usbDevice_;
std::string svoFilePath_;
int resolution_;
int quality_;
int sensingMode_;
int confidenceThr_;
};
/////////////////////////