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ZED: Fixed compilation error with ZED SDK3 (#499). Added textureness confidence thr parameter (default 90, working only with ZED SDK3)

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This commit is contained in:
matlabbe
2020-02-03 17:59:07 -05:00
parent 8810c9e694
commit e2e2227895
4 changed files with 53 additions and 19 deletions
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7
corelib/include/rtabmap/core/camera/CameraStereoZed.h
View File

@@ -59,7 +59,8 @@ public:
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = true,
bool odomForce3DoF = false);
bool odomForce3DoF = false,
int texturenessConfidenceThr = 90); // introduced with ZED SDK 3
CameraStereoZed(
const std::string & svoFilePath,
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
@@ -69,7 +70,8 @@ public:
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = true,
bool odomForce3DoF = false);
bool odomForce3DoF = false,
int texturenessConfidenceThr = 90); // introduced with ZED SDK 3
virtual ~CameraStereoZed();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -95,6 +97,7 @@ private:
bool selfCalibration_;
int sensingMode_;
int confidenceThr_;
int texturenessConfidenceThr_; // introduced with ZED SDK 3
bool computeOdometry_;
bool lost_;
bool force3DoF_;

13
corelib/src/camera/CameraStereoZed.cpp
View File

@@ -250,7 +250,8 @@ CameraStereoZed::CameraStereoZed(
float imageRate,
const Transform & localTransform,
bool selfCalibration,
bool odomForce3DoF) :
bool odomForce3DoF,
int texturenessConfidenceThr) :
Camera(imageRate, localTransform)
#ifdef RTABMAP_ZED
,
@@ -263,6 +264,7 @@ CameraStereoZed::CameraStereoZed(
selfCalibration_(selfCalibration),
sensingMode_(sensingMode),
confidenceThr_(confidenceThr),
texturenessConfidenceThr_(texturenessConfidenceThr),
computeOdometry_(computeOdometry),
lost_(true),
force3DoF_(odomForce3DoF),
@@ -286,6 +288,7 @@ CameraStereoZed::CameraStereoZed(
UASSERT(qual >= sl::DEPTH_MODE::NONE && qual < sl::DEPTH_MODE::LAST);
UASSERT(sens >= sl::SENSING_MODE::STANDARD && sens < sl::SENSING_MODE::LAST);
UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
UASSERT(texturenessConfidenceThr_ >= 0 && texturenessConfidenceThr_ <=100);
#endif
#endif
}
@@ -299,7 +302,8 @@ CameraStereoZed::CameraStereoZed(
float imageRate,
const Transform & localTransform,
bool selfCalibration,
bool odomForce3DoF) :
bool odomForce3DoF,
int texturenessConfidenceThr) :
Camera(imageRate, localTransform)
#ifdef RTABMAP_ZED
,
@@ -312,6 +316,7 @@ CameraStereoZed::CameraStereoZed(
selfCalibration_(selfCalibration),
sensingMode_(sensingMode),
confidenceThr_(confidenceThr),
texturenessConfidenceThr_(texturenessConfidenceThr),
computeOdometry_(computeOdometry),
lost_(true),
force3DoF_(odomForce3DoF),
@@ -335,6 +340,7 @@ CameraStereoZed::CameraStereoZed(
UASSERT(qual >= sl::DEPTH_MODE::NONE && qual < sl::DEPTH_MODE::LAST);
UASSERT(sens >= sl::SENSING_MODE::STANDARD && sens < sl::SENSING_MODE::LAST);
UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
UASSERT(texturenessConfidenceThr_ >= 0 && texturenessConfidenceThr_ <=100);
#endif
#endif
}
@@ -542,8 +548,7 @@ SensorData CameraStereoZed::captureImage(CameraInfo * info)
#if ZED_SDK_MAJOR_VERSION < 3
sl::RuntimeParameters rparam((sl::SENSING_MODE)sensingMode_, quality_ > 0, quality_ > 0, sl::REFERENCE_FRAME_CAMERA);
#else
sl::RuntimeParameters rparam((sl::SENSING_MODE)sensingMode_, quality_ > 0, quality_ > 0, sl::REFERENCE_FRAME::CAMERA);
rparam.confidence_threshold = confidenceThr_;
sl::RuntimeParameters rparam((sl::SENSING_MODE)sensingMode_, quality_ > 0, confidenceThr_, texturenessConfidenceThr_, sl::REFERENCE_FRAME::CAMERA);
#endif
if(zed_)