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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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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
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@@ -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_;