Added ZED parameters

corelib/include/rtabmap/core/CameraStereo.h

@@ -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_;
 };
 
 /////////////////////////

corelib/src/CameraStereo.cpp

@@ -747,11 +747,55 @@ bool CameraStereoZed::available()
 #endif
 }
 
-CameraStereoZed::CameraStereoZed(bool rgbdMode, float imageRate, const Transform & localTransform) :
-		Camera(imageRate, localTransform),
-		zed_(0),
-		rgbdMode_(rgbdMode)
+CameraStereoZed::CameraStereoZed(
+		int deviceId,
+		int resolution,
+		int quality,
+		int sensingMode,
+		int confidenceThr,
+		float imageRate,
+		const Transform & localTransform) :
+	Camera(imageRate, localTransform),
+	zed_(0),
+	src_(CameraVideo::kUsbDevice),
+	usbDevice_(deviceId),
+	svoFilePath_(""),
+	resolution_(resolution),
+	quality_(quality),
+	sensingMode_(sensingMode),
+	confidenceThr_(confidenceThr)
 {
+#ifdef RTABMAP_ZED
+	UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <=sl::zed::VGA);
+	UASSERT(quality_ >= sl::zed::NONE && quality_ <=sl::zed::QUALITY);
+	UASSERT(sensingMode_ >= sl::zed::FULL && sensingMode_ <=sl::zed::RAW);
+	UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
+#endif
+}
+
+CameraStereoZed::CameraStereoZed(
+		const std::string & filePath,
+		int quality,
+		int sensingMode,
+		int confidenceThr,
+		float imageRate,
+		const Transform & localTransform) :
+	Camera(imageRate, localTransform),
+	zed_(0),
+	src_(CameraVideo::kVideoFile),
+	usbDevice_(0),
+	svoFilePath_(filePath),
+	resolution_(2),
+	quality_(quality),
+	sensingMode_(sensingMode),
+	confidenceThr_(confidenceThr)
+{
+#ifdef RTABMAP_ZED
+	UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <=sl::zed::VGA);
+	UASSERT(quality_ >= sl::zed::NONE && quality_ <=sl::zed::QUALITY);
+	UASSERT(sensingMode_ >= sl::zed::FULL && sensingMode_ <=sl::zed::RAW);
+	UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
+#endif
 }
 
 CameraStereoZed::~CameraStereoZed()
@@ -773,29 +817,41 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 		zed_ = 0;
 	}
 	
-	if(zed_->isZEDconnected())
+
+	if(src_ == CameraVideo::kVideoFile)
 	{
-		zed_ = new sl::zed::Camera(sl::zed::HD720); // Use in Live Mode
-		//zed_ = new sl::zed::Camera(argv[1]); // Use in SVO playback mode
-
-		//init WITH self-calibration (- last parameter to false -)
-		sl::zed::ERRCODE err = zed_->init(sl::zed::MODE::PERFORMANCE, 0, true, false, false);
-
-		// Quit if an error occurred
-		if (err != sl::zed::SUCCESS)
-		{
-			UERROR("ZED camera initialization failed: %s", sl::zed::errcode2str(err).c_str());
-			delete zed_;
-			zed_ = 0;
-			return false;
-		}
+		zed_ = new sl::zed::Camera(svoFilePath_); // Use in SVO playback mode
 	}
 	else
 	{
-		UERROR("ZED camera initialization failed: ZED is not connected!");
+		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;
+		}
+	}
+
+	//init WITH self-calibration (- last parameter to false -)
+	sl::zed::ERRCODE err = zed_->init(
+			(sl::zed::MODE)quality_,
+			-1, // search for any GPU
+			true, false, false);
+
+	// Quit if an error occurred
+	if (err != sl::zed::SUCCESS)
+	{
+		UERROR("ZED camera initialization failed: %s", sl::zed::errcode2str(err).c_str());
+		delete zed_;
+		zed_ = 0;
 		return false;
 	}
 
+	zed_->setConfidenceThreshold(confidenceThr_);
+
 	sl::zed::StereoParameters * stereoParams = zed_->getParameters();
 	sl::zed::resolution res = zed_->getImageSize();
 				
@@ -837,9 +893,7 @@ SensorData CameraStereoZed::captureImage()
 #ifdef RTABMAP_ZED
 	if(zed_)
 	{
-		sl::zed::SENSING_MODE dm_type = sl::zed::RAW;
-		bool res = zed_->grab(dm_type);
-
+		bool res = zed_->grab((sl::zed::SENSING_MODE)sensingMode_, quality_ > 0, quality_ > 0, false);
 		if(!res)
 		{
 			// get left image
@@ -847,12 +901,12 @@ SensorData CameraStereoZed::captureImage()
 			cv::Mat left;
 			cv::cvtColor(rgbaLeft, left, cv::COLOR_BGRA2BGR);
 
-			if(rgbdMode_)
+			if(quality_ > 0)
 			{
 				// get depth image
 				cv::Mat depth;
 				slMat2cvMat(zed_->retrieveMeasure(sl::zed::MEASURE::DEPTH)).copyTo(depth);
-				depth /= 1000.0;
+				depth /= 1000.0; // to meters
 
 				data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), UTimer::now());
 			}
@@ -866,10 +920,14 @@ SensorData CameraStereoZed::captureImage()
 				data = SensorData(left, right, stereoModel_, this->getNextSeqID(), UTimer::now());
 			}
 		}
-		else
+		else if(src_ == CameraVideo::kUsbDevice)
 		{
 			UERROR("CameraStereoZed: Failed to grab images!");
 		}
+		else
+		{
+			UWARN("CameraStereoZed: end of stream is reached!");
+		}
 	}
 #else
 	UERROR("CameraStereoZED: RTAB-Map is not built with ZED sdk support!");

corelib/src/Stereo.cpp

@@ -150,7 +150,13 @@ std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
 
 	if(countFlowRejected + countDisparityRejected > (int)status.size()/2)
 	{
-		UWARN("A large number (%d/%d) of stereo correspondences are rejected! Optical flow may have failed, images are not calibrated or the background is too far (no disparity between the images).", countFlowRejected+countDisparityRejected, (int)status.size());
+		UWARN("A large number (%d/%d) of stereo correspondences are rejected! "
+				"Optical flow may have failed, images are not calibrated, "
+				"the background is too far (no disparity between the images) or "
+				"maximum disparity may be too small (%d).",
+				countFlowRejected+countDisparityRejected,
+				(int)status.size(),
+				this->maxDisparity());
 	}
 
 	return rightCorners;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -285,6 +285,7 @@ private slots:
 	void selectSourceStereoVideoPath();
 	void selectSourceOniPath();
 	void selectSourceOni2Path();
+	void selectSourceSvoPath();
 	void updateSourceGrpVisibility();
 	void testOdometry();
 	void testCamera();

guilib/src/MainWindow.cpp

@@ -881,64 +881,78 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 			   (odom.data().cameraModels().size() || odom.data().stereoCameraModel().isValidForProjection()) &&
 			   _preferencesDialog->isCloudsShown(1))
 			{
-				pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
-				pcl::IndicesPtr indices(new std::vector<int>);
-				cloud = util3d::cloudRGBFromSensorData(odom.data(),
-						_preferencesDialog->getCloudDecimation(1),
-						_preferencesDialog->getCloudMaxDepth(1),
-						_preferencesDialog->getCloudMinDepth(1),
-						indices.get(),
-						_preferencesDialog->getAllParameters());
-				if(indices->size())
+
+				if(odom.data().imageRaw().cols % _preferencesDialog->getCloudDecimation(1) != 0 ||
+				   odom.data().imageRaw().rows % _preferencesDialog->getCloudDecimation(1) != 0)
+				{
+					UERROR("Decimation (%d) is not modulo of the image resolution (%dx%d)! The cloud cannot be "
+							"created. Go to Preferences->3D Rendering under \"Odom\" column to modify this parameter.",
+							_preferencesDialog->getCloudDecimation(1),
+							odom.data().imageRaw().cols,
+							odom.data().imageRaw().rows);
+				}
+				else
 				{
-					cloud = util3d::transformPointCloud(cloud, pose);
 
-					if(_preferencesDialog->isCloudMeshing())
+					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
+					pcl::IndicesPtr indices(new std::vector<int>);
+					cloud = util3d::cloudRGBFromSensorData(odom.data(),
+							_preferencesDialog->getCloudDecimation(1),
+							_preferencesDialog->getCloudMaxDepth(1),
+							_preferencesDialog->getCloudMinDepth(1),
+							indices.get(),
+							_preferencesDialog->getAllParameters());
+					if(indices->size())
 					{
-						// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
-						pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
-						output = util3d::extractIndices(cloud, indices, false, true);
+						cloud = util3d::transformPointCloud(cloud, pose);
 
-						// Fast organized mesh
-						Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
-						if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
+						if(_preferencesDialog->isCloudMeshing())
 						{
-							viewpoint[0] = odom.data().cameraModels()[0].localTransform().x();
-							viewpoint[1] = odom.data().cameraModels()[0].localTransform().y();
-							viewpoint[2] = odom.data().cameraModels()[0].localTransform().z();
+							// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
+							pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
+							output = util3d::extractIndices(cloud, indices, false, true);
+
+							// Fast organized mesh
+							Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
+							if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
+							{
+								viewpoint[0] = odom.data().cameraModels()[0].localTransform().x();
+								viewpoint[1] = odom.data().cameraModels()[0].localTransform().y();
+								viewpoint[2] = odom.data().cameraModels()[0].localTransform().z();
+							}
+							else if(!odom.data().stereoCameraModel().localTransform().isNull())
+							{
+								viewpoint[0] = odom.data().stereoCameraModel().localTransform().x();
+								viewpoint[1] = odom.data().stereoCameraModel().localTransform().y();
+								viewpoint[2] = odom.data().stereoCameraModel().localTransform().z();
+							}
+							std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
+									output,
+									_preferencesDialog->getCloudMeshingAngle(),
+									_preferencesDialog->isCloudMeshingQuad(),
+									_preferencesDialog->getCloudMeshingTriangleSize(),
+									Eigen::Vector3f(pose.x(), pose.y(), pose.z()) + viewpoint);
+							if(polygons.size())
+							{
+								if(!_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection))
+								{
+									UERROR("Adding cloudOdom to viewer failed!");
+								}
+							}
 						}
-						else if(!odom.data().stereoCameraModel().localTransform().isNull())
+						else
 						{
-							viewpoint[0] = odom.data().stereoCameraModel().localTransform().x();
-							viewpoint[1] = odom.data().stereoCameraModel().localTransform().y();
-							viewpoint[2] = odom.data().stereoCameraModel().localTransform().z();
-						}
-						std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
-								output,
-								_preferencesDialog->getCloudMeshingAngle(),
-								_preferencesDialog->isCloudMeshingQuad(),
-								_preferencesDialog->getCloudMeshingTriangleSize(),
-								Eigen::Vector3f(pose.x(), pose.y(), pose.z()) + viewpoint);
-						if(polygons.size())
-						{
-							if(!_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection))
+							if(!_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection))
 							{
 								UERROR("Adding cloudOdom to viewer failed!");
 							}
 						}
-					}
-					else
-					{
-						if(!_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection))
-						{
-							UERROR("Adding cloudOdom to viewer failed!");
-						}
-					}
-					_cloudViewer->setCloudVisibility("cloudOdom", true);
-					_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
-					_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
+						_cloudViewer->setCloudVisibility("cloudOdom", true);
+						_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
+						_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
 
-					cloudUpdated = true;
+						cloudUpdated = true;
+					}
 				}
 			}
 
@@ -2218,6 +2232,18 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 		pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
 		pcl::IndicesPtr indices(new std::vector<int>);
 		UASSERT(nodeId == data.id());
+
+		if(image.cols % _preferencesDialog->getCloudDecimation(0) != 0 ||
+		   image.rows % _preferencesDialog->getCloudDecimation(0) != 0)
+		{
+			UERROR("Decimation (%d) is not modulo of the image resolution (%dx%d)! The cloud cannot be "
+					"created. Go to Preferences->3D Rendering under \"Map\" column to modify this parameter.",
+					_preferencesDialog->getCloudDecimation(0),
+					image.cols,
+					image.rows);
+			return;
+		}
+
 		// Create organized cloud
 		cloudWithoutNormals = util3d::cloudRGBFromSensorData(data,
 				_preferencesDialog->getCloudDecimation(0),

guilib/src/PreferencesDialog.cpp

@@ -471,7 +471,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 
-	connect(_ui->checkBox_stereoZed_computeDisparity, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->comboBox_stereoZed_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->comboBox_stereoZed_sensingMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->spinBox_stereoZed_confidenceThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->toolButton_zedSvoPath, SIGNAL(clicked()), this, SLOT(selectSourceSvoPath()));
+	connect(_ui->lineEdit_zedSvoPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 
 	connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1278,7 +1283,11 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->checkBox_stereoImages_rectify->setChecked(false);
 		_ui->lineEdit_cameraStereoVideo_path->setText("");
 		_ui->checkBox_stereoVideo_rectify->setChecked(false);
-		_ui->checkBox_stereoZed_computeDisparity->setChecked(true);
+		_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
+		_ui->comboBox_stereoZed_quality->setCurrentIndex(1);
+		_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(1);
+		_ui->spinBox_stereoZed_confidenceThr->setValue(100);
+		_ui->lineEdit_zedSvoPath->clear();
 
 		_ui->checkBox_cameraImages_timestamps->setChecked(false);
 		_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
@@ -1604,7 +1613,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	settings.endGroup(); // StereoVideo
 
 	settings.beginGroup("StereoZed");
-	_ui->checkBox_stereoZed_computeDisparity->setChecked(settings.value("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked()).toBool());
+	_ui->comboBox_stereoZed_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_stereoZed_resolution->currentIndex()).toInt());
+	_ui->comboBox_stereoZed_quality->setCurrentIndex(settings.value("quality", _ui->comboBox_stereoZed_quality->currentIndex()).toInt());
+	_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(settings.value("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex()).toInt());
+	_ui->spinBox_stereoZed_confidenceThr->setValue(settings.value("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value()).toInt());
+	_ui->lineEdit_zedSvoPath->setText(settings.value("svo_path", _ui->lineEdit_zedSvoPath->text()).toString());
 	settings.endGroup(); // StereoZed
 	
 
@@ -1993,7 +2006,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.endGroup(); // StereoVideo
 
 	settings.beginGroup("StereoZed");
-	settings.setValue("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked());
+	settings.setValue("resolution", _ui->comboBox_stereoZed_resolution->currentIndex());
+	settings.setValue("quality", _ui->comboBox_stereoZed_quality->currentIndex());
+	settings.setValue("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex());
+	settings.setValue("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value());
+	settings.setValue("svo_path", _ui->lineEdit_zedSvoPath->text());
 	settings.endGroup(); // StereoZed
 
 	
@@ -2833,6 +2850,20 @@ void PreferencesDialog::selectSourceOni2Path()
 	}
 }
 
+void PreferencesDialog::selectSourceSvoPath()
+{
+	QString dir = _ui->lineEdit_zedSvoPath->text();
+	if(dir.isEmpty())
+	{
+		dir = getWorkingDirectory();
+	}
+	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_zedSvoPath->text(), tr("ZED (*.svo)"));
+	if(!path.isEmpty())
+	{
+		_ui->lineEdit_zedSvoPath->setText(path);
+	}
+}
+
 void PreferencesDialog::setParameter(const std::string & key, const std::string & value)
 {
 	UDEBUG("%s=%s", key.c_str(), value.c_str());
@@ -3988,10 +4019,27 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 	}
 	else if (driver == kSrcStereoZed)
 	{
-		camera = new CameraStereoZed(
-			_ui->checkBox_stereoZed_computeDisparity->isChecked(),
-			this->getGeneralInputRate(),
-			this->getSourceLocalTransform());
+		if(!_ui->lineEdit_zedSvoPath->text().isEmpty())
+		{
+			camera = new CameraStereoZed(
+				_ui->lineEdit_zedSvoPath->text().toStdString(),
+				_ui->comboBox_stereoZed_quality->currentIndex(),
+				_ui->comboBox_stereoZed_sensingMode->currentIndex(),
+				_ui->spinBox_stereoZed_confidenceThr->value(),
+				this->getGeneralInputRate(),
+				this->getSourceLocalTransform());
+		}
+		else
+		{
+			camera = new CameraStereoZed(
+				this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
+				_ui->comboBox_stereoZed_resolution->currentIndex(),
+				_ui->comboBox_stereoZed_quality->currentIndex(),
+				_ui->comboBox_stereoZed_sensingMode->currentIndex(),
+				_ui->spinBox_stereoZed_confidenceThr->value(),
+				this->getGeneralInputRate(),
+				this->getSourceLocalTransform());
+		}
 	}
 	else if(driver == kSrcUsbDevice)
 	{

guilib/src/ui/preferencesDialog.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>984</width>
-    <height>693</height>
+    <height>713</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -63,25 +63,16 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
-            <width>685</width>
-            <height>1826</height>
+            <y>-477</y>
+            <width>686</width>
+            <height>2023</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
            <property name="spacing">
             <number>0</number>
            </property>
-           <property name="leftMargin">
-            <number>0</number>
-           </property>
-           <property name="topMargin">
-            <number>0</number>
-           </property>
-           <property name="rightMargin">
-            <number>0</number>
-           </property>
-           <property name="bottomMargin">
+           <property name="margin">
             <number>0</number>
            </property>
            <item>
@@ -2120,7 +2111,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item>
                             <widget class="QStackedWidget" name="stackedWidget_rgbd">
                              <property name="currentIndex">
-                              <number>6</number>
+                              <number>0</number>
                              </property>
                              <widget class="QWidget" name="page_32">
                               <layout class="QVBoxLayout" name="verticalLayout_63">
@@ -2788,7 +2779,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                              <item row="0" column="2">
                               <widget class="QLabel" name="label_240">
                                <property name="text">
-                                <string>Driver</string>
+                                <string>Driver.</string>
                                </property>
                                <property name="wordWrap">
                                 <bool>true</bool>
@@ -2805,7 +2796,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                              <item row="1" column="2">
                               <widget class="QLabel" name="label_247">
                                <property name="text">
-                                <string>Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images.</string>
+                                <string>Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can found under StereoBM tab.</string>
                                </property>
                                <property name="wordWrap">
                                 <bool>true</bool>
@@ -2817,7 +2808,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item>
                             <widget class="QStackedWidget" name="stackedWidget_stereo">
                              <property name="currentIndex">
-                              <number>5</number>
+                              <number>4</number>
                              </property>
                              <widget class="QWidget" name="page_49">
                               <layout class="QVBoxLayout" name="verticalLayout_91">
@@ -3038,32 +3029,135 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                  <property name="title">
                                   <string>Zed sdk</string>
                                  </property>
-                                 <layout class="QVBoxLayout" name="verticalLayout_102">
-                                  <item>
-                                   <layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
-                                    <item row="0" column="0">
-                                     <widget class="QCheckBox" name="checkBox_stereoZed_computeDisparity">
+                                 <layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
+                                  <item row="2" column="0">
+                                   <widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
+                                    <item>
+                                     <property name="text">
+                                      <string>FULL</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>RAW</string>
+                                     </property>
+                                    </item>
+                                   </widget>
+                                  </item>
+                                  <item row="4" column="0">
+                                   <layout class="QHBoxLayout" name="horizontalLayout_8">
+                                    <item>
+                                     <widget class="QToolButton" name="toolButton_zedSvoPath">
+                                      <property name="text">
+                                       <string>...</string>
+                                      </property>
+                                     </widget>
+                                    </item>
+                                    <item>
+                                     <widget class="QLineEdit" name="lineEdit_zedSvoPath">
                                       <property name="text">
                                        <string/>
                                       </property>
                                      </widget>
                                     </item>
-                                    <item row="0" column="1">
-                                     <widget class="QLabel" name="label_272">
-                                      <property name="text">
-                                       <string>Compute disparity with the GPU (using Zed sdk approach). Note that &quot;Generate disparity image...&quot; above will be ignored if set.</string>
-                                      </property>
-                                      <property name="wordWrap">
-                                       <bool>true</bool>
-                                      </property>
-                                      <property name="textInteractionFlags">
-                                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                                      </property>
-                                     </widget>
-                                    </item>
                                    </layout>
                                   </item>
-                                  <item>
+                                  <item row="0" column="0">
+                                   <widget class="QComboBox" name="comboBox_stereoZed_resolution">
+                                    <item>
+                                     <property name="text">
+                                      <string>HD2K</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>HD1080</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>HD720</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>VGA</string>
+                                     </property>
+                                    </item>
+                                   </widget>
+                                  </item>
+                                  <item row="0" column="1">
+                                   <widget class="QLabel" name="label_274">
+                                    <property name="text">
+                                     <string>Resolution. Not used when a SVO file is used.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="0">
+                                   <widget class="QComboBox" name="comboBox_stereoZed_quality">
+                                    <item>
+                                     <property name="text">
+                                      <string>NONE</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>PERFORMANCE</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>QUALITY</string>
+                                     </property>
+                                    </item>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="1">
+                                   <widget class="QLabel" name="label_290">
+                                    <property name="text">
+                                     <string>Quality. If NONE, the disparity is not computed on the GPU.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="2" column="1">
+                                   <widget class="QLabel" name="label_291">
+                                    <property name="text">
+                                     <string>Sensing mode.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="4" column="1">
+                                   <widget class="QLabel" name="label_305">
+                                    <property name="text">
+                                     <string>Path to a *.SVO file.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="5" column="0">
                                    <spacer name="verticalSpacer_54">
                                     <property name="orientation">
                                      <enum>Qt::Vertical</enum>
@@ -3071,11 +3165,31 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     <property name="sizeHint" stdset="0">
                                      <size>
                                       <width>20</width>
-                                      <height>0</height>
+                                      <height>13</height>
                                      </size>
                                     </property>
                                    </spacer>
                                   </item>
+                                  <item row="3" column="1">
+                                   <widget class="QLabel" name="label_306">
+                                    <property name="text">
+                                     <string>Filtering value for the disparity map (and by extension the depth map). A lower value means more confidence and precision (but less density), an upper value reduces the filtering (more density, less certainty).</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="3" column="0">
+                                   <widget class="QSpinBox" name="spinBox_stereoZed_confidenceThr">
+                                    <property name="maximum">
+                                     <number>100</number>
+                                    </property>
+                                   </widget>
+                                  </item>
                                  </layout>
                                 </widget>
                                </item>
@@ -3514,16 +3628,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                        <string>Directory of images (optional settings)</string>
                       </property>
                       <layout class="QVBoxLayout" name="verticalLayout_93">
-                       <property name="leftMargin">
-                        <number>0</number>
-                       </property>
-                       <property name="topMargin">
-                        <number>0</number>
-                       </property>
-                       <property name="rightMargin">
-                        <number>0</number>
-                       </property>
-                       <property name="bottomMargin">
+                       <property name="margin">
                         <number>0</number>
                        </property>
                        <item>
@@ -3531,7 +3636,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                          <item row="1" column="2">
                           <widget class="QLabel" name="label_255">
                            <property name="text">
-                            <string>Use file names as timestamps. Format is epoch time. Example: &quot;1305031102.175304.png&quot;</string>
+                            <string>Use file names as timestamps. Format is epoch time. Example: &quot;1305031102.175304.png&quot;.</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>
@@ -8680,16 +8785,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       </property>
                       <widget class="QWidget" name="page_54">
                        <layout class="QVBoxLayout" name="verticalLayout_85">
-                        <property name="leftMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="topMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="rightMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="bottomMargin">
+                        <property name="margin">
                          <number>0</number>
                         </property>
                         <item>
@@ -8829,16 +8925,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                       </widget>
                       <widget class="QWidget" name="page_55">
                        <layout class="QVBoxLayout" name="verticalLayout_86">
-                        <property name="leftMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="topMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="rightMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="bottomMargin">
+                        <property name="margin">
                          <number>0</number>
                         </property>
                         <item>
@@ -8996,16 +9083,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="leftMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="topMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="rightMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="bottomMargin">
+                        <property name="margin">
                          <number>0</number>
                         </property>
                         <item>
@@ -9085,16 +9163,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="leftMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="topMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="rightMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="bottomMargin">
+                        <property name="margin">
                          <number>0</number>
                         </property>
                         <item>
@@ -9206,16 +9275,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="leftMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="topMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="rightMargin">
-                         <number>0</number>
-                        </property>
-                        <property name="bottomMargin">
+                        <property name="margin">
                          <number>0</number>
                         </property>
                         <item>

tools/CameraRGBD/main.cpp

@@ -243,7 +243,7 @@ int main(int argc, char * argv[])
 			UERROR("Not built with ZED sdk support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraStereoZed(true);
+		camera = new rtabmap::CameraStereoZed(0);
 	}
 	else
 	{