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0.11.7: Added ZED sdk support

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This commit is contained in:
matlabbe
2016-05-31 19:09:49 -04:00
parent b2bb421063
commit 6f1f490370
31 changed files with 711 additions and 131 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+47 -2
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 11)
SET(RTABMAP_PATCH_VERSION 6)
SET(RTABMAP_PATCH_VERSION 7)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -136,6 +136,7 @@ option(WITH_TORO "Include TORO support" ON)
option(WITH_VERTIGO "Include Vertigo support" ON)
option(WITH_CVSBA "Include cvsba support" ON)
option(WITH_FLYCAPTURE2 "Include FlyCapture2/Triclops support" ON)
option(WITH_ZED "Include ZED sdk support" ON)
FIND_PACKAGE(OpenCV REQUIRED QUIET)
FIND_PACKAGE(PCL 1.7 REQUIRED QUIET)
@@ -259,12 +260,41 @@ IF(WITH_FLYCAPTURE2)
ENDIF(WITH_FLYCAPTURE2)
IF(WITH_CVSBA)
FIND_PACKAGE(cvsba QUIET)
FIND_PACKAGE(cvsba QUIET)
IF(cvsba_FOUND)
MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
ENDIF(cvsba_FOUND)
ENDIF(WITH_CVSBA)
IF(WITH_ZED)
IF(WIN32) # Windows
SET(ZED_INCLUDE_DIRS $ENV{ZED_INCLUDE_DIRS})
if (CMAKE_CL_64) # 64 bits
SET(ZED_LIBRARIES $ENV{ZED_LIBRARIES_64})
else(CMAKE_CL_64) # 32 bits
message("32bits compilation is no more available with CUDA7.0")
endif(CMAKE_CL_64)
SET(ZED_LIBRARY_DIR $ENV{ZED_LIBRARY_DIR})
IF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
SET(ZED_FOUND TRUE)
LINK_DIRECTORIES( ${LINK_DIRECTORIES} ${ZED_LIBRARY_DIR})
ENDIF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
ELSE() # Linux
find_package(ZED 0.9)
ENDIF(WIN32)
IF(ZED_FOUND)
MESSAGE(STATUS "Found ZED sdk: ${ZED_INCLUDE_DIRS}")
## look for CUDA
find_package(CUDA)
IF(CUDA_FOUND)
MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
ELSE()
MESSAGE(FATAL_ERROR "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
ENDIF()
ENDIF(ZED_FOUND)
ENDIF(WITH_ZED)
####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
IF(APPLE AND BUILD_AS_BUNDLE)
IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
@@ -327,6 +357,9 @@ ENDIF(NOT DC1394_FOUND)
IF(NOT FlyCapture2_FOUND)
SET(FLYCAPTURE2 "//")
ENDIF(NOT FlyCapture2_FOUND)
IF(NOT ZED_FOUND)
SET(ZED "//")
ENDIF(NOT ZED_FOUND)
IF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
SET(OPENCV3 "//")
ENDIF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
@@ -601,6 +634,18 @@ ELSE()
MESSAGE(STATUS " With cvsba = NO (cvsba not found)")
ENDIF()
IF(ZED_FOUND)
IF(CUDA_FOUND)
MESSAGE(STATUS " With ZED = YES (With CUDA)")
ELSE()
MESSAGE(STATUS " With ZED = YES (Without CUDA)")
ENDIF()
ELSEIF(NOT WITH_ZED)
MESSAGE(STATUS " With ZED = NO (WITH_ZED=OFF)")
ELSE()
MESSAGE(STATUS " With ZED = NO (ZED sdk not found)")
ENDIF()
IF(QT4_FOUND)
MESSAGE(STATUS " With Qt4 = YES (License: Open Source or Commercial)")
ELSEIF(Qt5_FOUND)
Version.h.in
+1
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@@ -49,6 +49,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@CVSBA@#define RTABMAP_CVSBA
@DC1394@#define RTABMAP_DC1394
@FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
@ZED@#define RTABMAP_ZED
#endif /* VERSION_H_ */
corelib/include/rtabmap/core/CameraStereo.h
+40
View File
@@ -39,6 +39,14 @@ namespace FlyCapture2
class Camera;
}
namespace sl
{
namespace zed
{
class Camera;
}
}
namespace rtabmap
{
@@ -94,6 +102,32 @@ private:
void * triclopsCtx_; // TriclopsContext
};
/////////////////////////
// CameraStereoZED
/////////////////////////
class RTABMAP_EXP CameraStereoZed :
public Camera
{
public:
static bool available();
public:
CameraStereoZed(bool rgbdMode, float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoZed();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage();
private:
sl::zed::Camera * zed_;
StereoCameraModel stereoModel_;
bool rgbdMode_;
};
/////////////////////////
// CameraStereoImages
/////////////////////////
@@ -147,6 +181,10 @@ public:
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
int device,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -162,6 +200,8 @@ private:
bool rectifyImages_;
StereoCameraModel stereoModel_;
std::string cameraName_;
CameraVideo::Source src_;
int usbDevice_;
};
} // namespace rtabmap
corelib/include/rtabmap/core/Parameters.h
+13 -3
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@@ -221,9 +221,9 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
#ifdef RTABMAP_NONFREE
RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#else
RTABMAP_PARAM(Kp, DetectorStrategy, int, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#endif
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
@@ -396,7 +396,17 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.02, "[Vis/EstimationType = 2] Epipolar geometry maximum variance to accept the transformation.");
RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
RTABMAP_PARAM(Vis, Iterations, int, 100, "Maximum iterations to compute the transform.");
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
#ifndef RTABMAP_NONFREE
#ifdef RTABMAP_OPENCV3
// OpenCV 3 without xFeatures2D module doesn't have BRIEF
RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#endif
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#endif
RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
RTABMAP_PARAM(Vis, MaxDepth, float, 0.0, "Max depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, MinDepth, float, 0.0, "Min depth of the features (0 means no limit).");
corelib/include/rtabmap/core/util2d.h
+2 -1
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>
namespace rtabmap
{
@@ -68,7 +69,7 @@ void RTABMAP_EXP calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputA
cv::Mat RTABMAP_EXP disparityFromStereoImages(
const cv::Mat & leftImage,
const cv::Mat & rightImage,
int type = CV_32FC1); // CV_32FC1 or CV_16SC1
const ParametersMap & parameters = ParametersMap());
cv::Mat RTABMAP_EXP depthFromDisparity(const cv::Mat & disparity,
float fx, float baseline,
corelib/include/rtabmap/core/util3d.h
+7 -3
View File
@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/TextureMesh.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
#include <opencv2/core/core.hpp>
#include <map>
#include <list>
@@ -116,14 +117,16 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
std::vector<int> * validIndices = 0,
const ParametersMap & parameters = ParametersMap());
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
const SensorData & sensorData,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
std::vector<int> * validIndices = 0,
const ParametersMap & parameters = ParametersMap());
/**
* Create an RGB cloud from the images contained in SensorData. If there is only one camera,
@@ -143,7 +146,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
std::vector<int> * validIndices = 0,
const ParametersMap & parameters = ParametersMap());
pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
const cv::Mat & depthImage,
corelib/src/CMakeLists.txt
+21
View File
@@ -209,6 +209,27 @@ IF(cvsba_FOUND)
)
ENDIF(cvsba_FOUND)
IF(ZED_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${ZED_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${ZED_LIBRARIES}
)
IF(CUDA_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${CUDA_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${CUDA_LIBRARIES}
)
ENDIF(CUDA_FOUND)
ENDIF(ZED_FOUND)
####################################
# Generate resources files
####################################
corelib/src/CameraRGB.cpp
+10 -7
View File
@@ -722,7 +722,7 @@ CameraVideo::~CameraVideo()
bool CameraVideo::init(const std::string & calibrationFolder, const std::string & cameraName)
{
_guid.clear();
_guid = cameraName;
if(_capture.isOpened())
{
_capture.release();
@@ -750,19 +750,22 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
}
else
{
unsigned int guid = (unsigned int)_capture.get(CV_CAP_PROP_GUID);
if(guid != 0 && guid != 0xffffffff)
if (_guid.empty())
{
_guid = uFormat("%08x", guid);
unsigned int guid = (unsigned int)_capture.get(CV_CAP_PROP_GUID);
if (guid != 0 && guid != 0xffffffff)
{
_guid = uFormat("%08x", guid);
}
}
// look for calibration files
if(!calibrationFolder.empty() && (!_guid.empty() || !cameraName.empty()))
if(!calibrationFolder.empty() && !_guid.empty())
{
if(!_model.load(calibrationFolder, (cameraName.empty()?_guid:cameraName)))
if(!_model.load(calibrationFolder, _guid))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName.empty()?_guid.c_str():cameraName.c_str(), calibrationFolder.c_str());
_guid.c_str(), calibrationFolder.c_str());
}
else
{
corelib/src/CameraStereo.cpp
+196 -10
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@@ -48,6 +48,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <fc2triclops.h>
#endif
#ifdef RTABMAP_ZED
#include <zed/Camera.hpp>
#endif
namespace rtabmap
{
@@ -731,6 +735,152 @@ SensorData CameraStereoFlyCapture2::captureImage()
return data;
}
//
// CameraStereoZED
//
bool CameraStereoZed::available()
{
#ifdef RTABMAP_ZED
return true;
#else
return false;
#endif
}
CameraStereoZed::CameraStereoZed(bool rgbdMode, float imageRate, const Transform & localTransform) :
Camera(imageRate, localTransform),
zed_(0),
rgbdMode_(rgbdMode)
{
}
CameraStereoZed::~CameraStereoZed()
{
#ifdef RTABMAP_ZED
if(zed_)
{
delete zed_;
}
#endif
}
bool CameraStereoZed::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef RTABMAP_ZED
if(zed_)
{
delete zed_;
zed_ = 0;
}
if(zed_->isZEDconnected())
{
zed_ = new sl::zed::Camera(sl::zed::HD720); // Use in Live Mode
//zed_ = new sl::zed::Camera(argv[1]); // Use in SVO playback mode
int width = zed_->getImageSize().width;
int height = zed_->getImageSize().height;
//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));
delete zed_;
zed_ = 0;
return false;
}
}
else
{
UERROR("ZED camera initialization failed: ZED is not connected!");
return false;
}
sl::zed::StereoParameters * stereoParams = zed_->getParameters();
sl::zed::resolution res = zed_->getImageSize();
stereoModel_ = StereoCameraModel(
stereoParams->LeftCam.fx,
stereoParams->LeftCam.fy,
stereoParams->LeftCam.cx,
stereoParams->LeftCam.cy,
stereoParams->baseline/1000.0f,
this->getLocalTransform(),
cv::Size(res.width, res.height));
return true;
#else
UERROR("CameraStereoZED: RTAB-Map is not built with ZED sdk support!");
#endif
return false;
}
bool CameraStereoZed::isCalibrated() const
{
return stereoModel_.isValidForProjection();
}
std::string CameraStereoZed::getSerial() const
{
#ifdef RTABMAP_ZED
if(zed_)
{
return uFormat("%x", zed_->getZEDSerial());
}
#endif
return "";
}
SensorData CameraStereoZed::captureImage()
{
SensorData data;
#ifdef RTABMAP_ZED
if(zed_)
{
sl::zed::SENSING_MODE dm_type = sl::zed::RAW;
bool res = zed_->grab(dm_type);
if(!res)
{
// get left image
cv::Mat rgbaLeft = slMat2cvMat(zed_->retrieveImage(static_cast<sl::zed::SIDE> (sl::zed::STEREO_LEFT)));
cv::Mat left;
cv::cvtColor(rgbaLeft, left, cv::COLOR_BGRA2BGR);
if(rgbdMode_)
{
// get depth image
cv::Mat depth;
slMat2cvMat(zed_->retrieveMeasure(sl::zed::MEASURE::DEPTH)).copyTo(depth);
depth /= 1000.0;
data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), UTimer::now());
}
else
{
// get right image
cv::Mat rgbaRight = slMat2cvMat(zed_->retrieveImage(static_cast<sl::zed::SIDE> (sl::zed::STEREO_RIGHT)));
cv::Mat right;
cv::cvtColor(rgbaRight, right, cv::COLOR_BGRA2GRAY);
data = SensorData(left, right, stereoModel_, this->getNextSeqID(), UTimer::now());
}
}
else
{
UERROR("CameraStereoZed: Failed to grab images!");
}
}
#else
UERROR("CameraStereoZED: RTAB-Map is not built with ZED sdk support!");
#endif
return data;
}
//
// CameraStereoImages
//
@@ -921,7 +1071,21 @@ CameraStereoVideo::CameraStereoVideo(
const Transform & localTransform) :
Camera(imageRate, localTransform),
path_(path),
rectifyImages_(rectifyImages)
rectifyImages_(rectifyImages),
src_(CameraVideo::kVideoFile),
usbDevice_(0)
{
}
CameraStereoVideo::CameraStereoVideo(
int device,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
path_(""),
rectifyImages_(false),
src_(CameraVideo::kUsbDevice),
usbDevice_(device)
{
}
@@ -932,29 +1096,51 @@ CameraStereoVideo::~CameraStereoVideo()
bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::string & cameraName)
{
cameraName_ = cameraName;
if(capture_.isOpened())
{
capture_.release();
}
ULOGGER_DEBUG("Camera: filename=\"%s\"", path_.c_str());
capture_.open(path_.c_str());
if (src_ == CameraVideo::kUsbDevice)
{
ULOGGER_DEBUG("CameraStereoVideo: Usb device initialization on device %d", usbDevice_);
capture_.open(usbDevice_);
}
else if (src_ == CameraVideo::kVideoFile)
{
ULOGGER_DEBUG("CameraStereoVideo: filename=\"%s\"", path_.c_str());
capture_.open(path_.c_str());
}
else
{
ULOGGER_ERROR("CameraStereoVideo: Unknown source...");
}
if(!capture_.isOpened())
{
ULOGGER_ERROR("Camera: Failed to create a capture object!");
ULOGGER_ERROR("CameraStereoVideo: Failed to create a capture object!");
capture_.release();
return false;
}
else
{
// look for calibration files
cameraName_ = cameraName;
if(!calibrationFolder.empty() && !cameraName.empty())
if (cameraName_.empty())
{
if(!stereoModel_.load(calibrationFolder, cameraName))
unsigned int guid = (unsigned int)capture_.get(CV_CAP_PROP_GUID);
if (guid != 0 && guid != 0xffffffff)
{
cameraName_ = uFormat("%08x", guid);
}
}
// look for calibration files
if(!calibrationFolder.empty() && !cameraName_.empty())
{
if(!stereoModel_.load(calibrationFolder, cameraName_))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName.c_str(), calibrationFolder.c_str());
cameraName_.c_str(), calibrationFolder.c_str());
}
else
{
@@ -1007,7 +1193,7 @@ SensorData CameraStereoVideo::captureImage()
rightCvt = true;
}
if(rectifyImages_ && stereoModel_.left().isValidForRectification() && stereoModel_.right().isValidForRectification())
if((src_ != CameraVideo::kVideoFile || rectifyImages_) && stereoModel_.left().isValidForRectification() && stereoModel_.right().isValidForRectification())
{
leftImage = stereoModel_.left().rectifyImage(leftImage);
rightImage = stereoModel_.right().rectifyImage(rightImage);
corelib/src/Memory.cpp
+1 -1
View File
@@ -3425,7 +3425,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
UASSERT(keypoints3D.size() == 0 || keypoints3D.size() == wordIds.size());
unsigned int i=0;
float decimationRatio = preDecimation / _imagePostDecimation;
double log2value = log(preDecimation)/log(2);
double log2value = log(double(preDecimation))/log(2.0);
for(std::list<int>::iterator iter=wordIds.begin(); iter!=wordIds.end() && i < keypoints.size(); ++iter, ++i)
{
cv::KeyPoint kpt = keypoints[i];
corelib/src/Odometry.cpp
+1 -1
View File
@@ -253,7 +253,7 @@ Transform Odometry::process(SensorData & data, OdometryInfo * info)
// transform back the keypoints in the original image
std::vector<cv::KeyPoint> kpts = decimatedData.keypoints();
double log2value = log(_imageDecimation)/log(2);
double log2value = log(double(_imageDecimation))/log(2.0);
for(unsigned int i=0; i<kpts.size(); ++i)
{
kpts[i].pt.x *= _imageDecimation;
corelib/src/util2d.cpp
+5 -28
View File
@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/StereoDense.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/tracking.hpp>
@@ -724,12 +725,11 @@ void calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputArray _nextIm
cv::Mat disparityFromStereoImages(
const cv::Mat & leftImage,
const cv::Mat & rightImage,
int type)
const ParametersMap & parameters)
{
UASSERT(!leftImage.empty() && !rightImage.empty());
UASSERT(leftImage.cols == rightImage.cols && leftImage.rows == rightImage.rows);
UASSERT((leftImage.type() == CV_8UC1 || leftImage.type() == CV_8UC3) && rightImage.type() == CV_8UC1);
UASSERT(type == CV_32FC1 || type == CV_16SC1);
cv::Mat leftMono;
if(leftImage.channels() == 3)
@@ -741,32 +741,9 @@ cv::Mat disparityFromStereoImages(
leftMono = leftImage;
}
cv::Mat disparity;
#if CV_MAJOR_VERSION < 3
cv::StereoBM stereo(cv::StereoBM::BASIC_PRESET);
stereo.state->SADWindowSize = 15;
stereo.state->minDisparity = 0;
stereo.state->numberOfDisparities = 64;
stereo.state->preFilterSize = 9;
stereo.state->preFilterCap = 31;
stereo.state->uniquenessRatio = 15;
stereo.state->textureThreshold = 10;
stereo.state->speckleWindowSize = 100;
stereo.state->speckleRange = 4;
stereo(leftMono, rightImage, disparity, type);
#else
cv::Ptr<cv::StereoBM> stereo = cv::StereoBM::create();
stereo->setBlockSize(15);
stereo->setMinDisparity(0);
stereo->setNumDisparities(64);
stereo->setPreFilterSize(9);
stereo->setPreFilterCap(31);
stereo->setUniquenessRatio(15);
stereo->setTextureThreshold(10);
stereo->setSpeckleWindowSize(100);
stereo->setSpeckleRange(4);
stereo->compute(leftMono, rightImage, disparity);
#endif
return disparity;
StereoBM stereo(parameters);
return stereo.computeDisparity(leftMono, rightImage);
}
cv::Mat depthFromDisparity(const cv::Mat & disparity,
corelib/src/util3d.cpp
+10 -6
View File
@@ -588,7 +588,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
int decimation,
float maxDepth,
float minDepth,
std::vector<int> * validIndices)
std::vector<int> * validIndices,
const ParametersMap & parameters)
{
UASSERT(!imageLeft.empty() && !imageRight.empty());
UASSERT(imageRight.type() == CV_8UC1);
@@ -623,7 +624,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
return cloudFromDisparityRGB(
leftColor,
util2d::disparityFromStereoImages(leftMono, rightMono),
util2d::disparityFromStereoImages(leftMono, rightMono, parameters),
modelDecimation,
decimation,
maxDepth,
@@ -636,7 +637,8 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
int decimation,
float maxDepth,
float minDepth,
std::vector<int> * validIndices)
std::vector<int> * validIndices,
const ParametersMap & parameters)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
@@ -696,7 +698,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
leftMono = sensorData.imageRaw();
}
cloud = cloudFromDisparity(
util2d::disparityFromStereoImages(leftMono, sensorData.rightRaw()),
util2d::disparityFromStereoImages(leftMono, sensorData.rightRaw(), parameters),
sensorData.stereoCameraModel(),
decimation,
maxDepth,
@@ -719,7 +721,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
int decimation,
float maxDepth,
float minDepth,
std::vector<int> * validIndices)
std::vector<int> * validIndices,
const ParametersMap & parameters)
{
UASSERT(!sensorData.imageRaw().empty());
UASSERT((!sensorData.depthRaw().empty() && sensorData.cameraModels().size()) ||
@@ -804,7 +807,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
decimation,
maxDepth,
minDepth,
validIndices);
validIndices,
parameters);
if(cloud->size())
{
guilib/include/rtabmap/gui/CameraViewer.h
+5 -1
View File
@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEventsHandler.h>
#include <QDialog>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
class QSpinBox;
class QCheckBox;
@@ -47,7 +48,9 @@ class RTABMAPGUI_EXP CameraViewer : public QDialog, public UEventsHandler
{
Q_OBJECT
public:
CameraViewer(QWidget * parent = 0);
CameraViewer(
QWidget * parent = 0,
const ParametersMap & parameters = ParametersMap());
virtual ~CameraViewer();
public slots:
@@ -61,6 +64,7 @@ private:
bool processingImages_;
QSpinBox * decimationSpin_;
int validDecimationValue_;
ParametersMap parameters_;
QPushButton * pause_;
QCheckBox * showCloudCheckbox_;
QCheckBox * showScanCheckbox_;
guilib/include/rtabmap/gui/LoopClosureViewer.h
+1 -1
View File
@@ -57,7 +57,7 @@ public slots:
void setDecimation(int decimation) {decimation_ = decimation;}
void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
void setMinDepth(int minDepth) {minDepth_ = minDepth;}
void updateView(const Transform & AtoB = Transform());
void updateView(const Transform & AtoB = Transform(), const ParametersMap & parameters = ParametersMap());
protected:
virtual void showEvent(QShowEvent * event);
guilib/include/rtabmap/gui/MainWindow.h
+2
View File
@@ -153,6 +153,8 @@ private slots:
void selectFreenect2();
void selectStereoDC1394();
void selectStereoFlyCapture2();
void selectStereoZed();
void selectStereoUsb();
void dumpTheMemory();
void dumpThePrediction();
void sendGoal();
guilib/include/rtabmap/gui/OdometryViewer.h
+10 -1
View File
@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/Parameters.h"
#include <QDialog>
#include "rtabmap/utilite/UEventsHandler.h"
@@ -49,7 +50,14 @@ class RTABMAPGUI_EXP OdometryViewer : public QDialog, public UEventsHandler
Q_OBJECT
public:
OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, float maxDepth = 0, int qualityWarningThr=0, QWidget * parent = 0);
OdometryViewer(
int maxClouds = 10,
int decimation = 2,
float voxelSize = 0.0f,
float maxDepth = 0,
int qualityWarningThr=0,
QWidget * parent = 0,
const ParametersMap & parameters = ParametersMap());
virtual ~OdometryViewer();
public slots:
@@ -83,6 +91,7 @@ private:
QCheckBox * featuresShown_;
QLabel * timeLabel_;
int validDecimationValue_;
ParametersMap parameters_;
};
} /* namespace rtabmap */
guilib/include/rtabmap/gui/PreferencesDialog.h
+2
View File
@@ -96,6 +96,8 @@ public:
kSrcFlyCapture2 = 101,
kSrcStereoImages = 102,
kSrcStereoVideo = 103,
kSrcStereoZed = 104,
kSrcStereoUsb = 105,
kSrcRGB = 200,
kSrcUsbDevice = 200,
guilib/src/CameraViewer.cpp
+5 -4
View File
@@ -47,12 +47,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
CameraViewer::CameraViewer(QWidget * parent) :
CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
QDialog(parent),
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
processingImages_(false),
validDecimationValue_(1)
validDecimationValue_(1),
parameters_(parameters)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
@@ -146,12 +147,12 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
if(!data.imageRaw().empty() && !data.depthOrRightRaw().empty())
{
showCloudCheckbox_->setEnabled(true);
cloudView_->addCloud("cloud", util3d::cloudRGBFromSensorData(data, validDecimationValue_));
cloudView_->addCloud("cloud", util3d::cloudRGBFromSensorData(data, validDecimationValue_, 0, 0, 0, parameters_));
}
else if(!data.depthOrRightRaw().empty())
{
showCloudCheckbox_->setEnabled(true);
cloudView_->addCloud("cloud", util3d::cloudFromSensorData(data, validDecimationValue_));
cloudView_->addCloud("cloud", util3d::cloudFromSensorData(data, validDecimationValue_, 0, 0, 0, parameters_));
}
}
}
guilib/src/DatabaseViewer.cpp
+14 -9
View File
@@ -1509,7 +1509,7 @@ void DatabaseViewer::view3DMap()
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, 0, ui_->parameters_toolbox->getParameters());
if(cloud->size())
{
@@ -1733,7 +1733,7 @@ void DatabaseViewer::generate3DMap()
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, validIndices.get());
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, validIndices.get(), ui_->parameters_toolbox->getParameters());
if(assemble)
{
@@ -2275,7 +2275,7 @@ void DatabaseViewer::update(int value,
}
else
{
cloud = util3d::cloudRGBFromSensorData(data);
cloud = util3d::cloudRGBFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
}
if(cloud->size())
{
@@ -2312,7 +2312,7 @@ void DatabaseViewer::update(int value,
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::cloudFromSensorData(data);
cloud = util3d::cloudFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
if(cloud->size())
{
view3D->addCloud("0", cloud);
@@ -2945,11 +2945,11 @@ void DatabaseViewer::updateConstraintView(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFrom, cloudTo;
if(!dataFrom.imageRaw().empty() && !dataFrom.depthOrRightRaw().empty())
{
cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, 1);
cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
}
if(!dataTo.imageRaw().empty() && !dataTo.depthOrRightRaw().empty())
{
cloudTo=util3d::cloudRGBFromSensorData(dataTo, 1);
cloudTo=util3d::cloudRGBFromSensorData(dataTo, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
}
if(cloudFrom.get() && cloudFrom->size())
@@ -3346,7 +3346,8 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
ui_->spinBox_projDecimation->value(),
ui_->doubleSpinBox_projMaxDepth->value(),
ui_->doubleSpinBox_projMinDepth->value(),
validIndices.get());
validIndices.get(),
ui_->parameters_toolbox->getParameters());
UASSERT(ui_->doubleSpinBox_gridCellSize->value() > 0);
cloud = util3d::voxelize(cloud, validIndices, ui_->doubleSpinBox_gridCellSize->value());
@@ -3793,12 +3794,16 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
dataFrom,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value());
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo = util3d::cloudFromSensorData(
dataTo,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value());
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
int maxLaserScans = cloudFrom->size();
dataFrom.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0);
dataTo.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0);
guilib/src/ExportCloudsDialog.cpp
+13 -5
View File
@@ -337,7 +337,8 @@ void ExportCloudsDialog::exportClouds(
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory)
const QString & workingDirectory,
const ParametersMap & parameters)
{
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> clouds;
std::map<int, pcl::PolygonMesh::Ptr> meshes;
@@ -351,6 +352,7 @@ void ExportCloudsDialog::exportClouds(
cachedSignatures,
createdClouds,
workingDirectory,
parameters,
clouds,
meshes,
textureMeshes))
@@ -387,7 +389,8 @@ void ExportCloudsDialog::viewClouds(
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory)
const QString & workingDirectory,
const ParametersMap & parameters)
{
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> clouds;
std::map<int, pcl::PolygonMesh::Ptr> meshes;
@@ -401,6 +404,7 @@ void ExportCloudsDialog::viewClouds(
cachedSignatures,
createdClouds,
workingDirectory,
parameters,
clouds,
meshes,
textureMeshes))
@@ -517,6 +521,7 @@ bool ExportCloudsDialog::getExportedClouds(
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & cloudsWithNormals,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes)
@@ -550,7 +555,8 @@ bool ExportCloudsDialog::getExportedClouds(
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds = this->getClouds(
poses,
cachedSignatures,
createdClouds);
createdClouds,
parameters);
pcl::PointCloud<pcl::PointXYZ>::Ptr rawAssembledCloud(new pcl::PointCloud<pcl::PointXYZ>);
std::vector<int> rawCameraIndices;
@@ -1006,7 +1012,8 @@ bool ExportCloudsDialog::getExportedClouds(
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > ExportCloudsDialog::getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds) const
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const ParametersMap & parameters) const
{
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds;
int i=0;
@@ -1038,7 +1045,8 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
_ui->spinBox_decimation->value(),
_ui->doubleSpinBox_maxDepth->value(),
_ui->doubleSpinBox_minDepth->value(),
indices.get());
indices.get(),
parameters);
// Don't voxelize if we create organized mesh
if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()))
guilib/src/ExportCloudsDialog.h
+8 -3
View File
@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QSettings>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/Parameters.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
@@ -63,14 +64,16 @@ public:
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory);
const QString & workingDirectory,
const ParametersMap & parameters);
void viewClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory);
const QString & workingDirectory,
const ParametersMap & parameters);
signals:
void configChanged();
@@ -86,13 +89,15 @@ private:
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds) const;
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const ParametersMap & parameters) const;
bool getExportedClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes);
guilib/src/GuiLib.qrc
+2 -1
View File
@@ -29,6 +29,7 @@
<file>images/sense.png</file>
<file>images/xtion_pro_live.png</file>
<file>images/bumblebee2.png</file>
<file>images/webcam.png</file>
<file>images/webcam.png</file>
<file>images/zed.png</file>
</qresource>
</RCC>
guilib/src/LoopClosureViewer.cpp
+3 -3
View File
@@ -67,7 +67,7 @@ void LoopClosureViewer::setData(const Signature & sA, const Signature & sB)
}
}
void LoopClosureViewer::updateView(const Transform & transform)
void LoopClosureViewer::updateView(const Transform & transform, const ParametersMap & parameters)
{
if(sA_.id()>0 && sB_.id()>0)
{
@@ -106,8 +106,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
{
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA, cloudB;
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth);
cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth);
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth, 0, parameters);
cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth, 0, parameters);
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
guilib/src/MainWindow.cpp
+27 -7
View File
@@ -399,6 +399,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
connect(_ui->actionStereoZed, SIGNAL(triggered()), this, SLOT(selectStereoZed()));
connect(_ui->actionStereoUsb, SIGNAL(triggered()), this, SLOT(selectStereoUsb()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
@@ -408,6 +410,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
this->updateSelectSourceMenu();
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
@@ -884,7 +887,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
_preferencesDialog->getCloudDecimation(1),
_preferencesDialog->getCloudMaxDepth(1),
_preferencesDialog->getCloudMinDepth(1),
indices.get());
indices.get(),
_preferencesDialog->getAllParameters());
if(indices->size())
{
cloud = util3d::transformPointCloud(cloud, pose);
@@ -1587,7 +1591,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(_ui->dockWidget_loopClosureViewer->isVisible())
{
UTimer loopTimer;
_loopClosureViewer->updateView();
_loopClosureViewer->updateView(Transform(), _preferencesDialog->getAllParameters());
UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
}
@@ -2219,7 +2223,8 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
_preferencesDialog->getCloudDecimation(0),
_preferencesDialog->getCloudMaxDepth(0),
_preferencesDialog->getCloudMinDepth(0),
indices.get());
indices.get(),
_preferencesDialog->getAllParameters());
//compute normals
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = util3d::computeNormals(cloudWithoutNormals, 10);
@@ -2560,7 +2565,7 @@ Transform MainWindow::alignPosesToGroundTruth(
Transform t = Transform::getIdentity();
if(groundTruth.size() && poses.size())
{
unsigned int maxSize = poses.size()>groundTruth.size()?poses.size():groundTruth.size();
unsigned int maxSize = poses.size()>groundTruth.size()? (unsigned int)poses.size(): (unsigned int)groundTruth.size();
pcl::PointCloud<pcl::PointXYZ> cloud1, cloud2;
cloud1.resize(maxSize);
cloud2.resize(maxSize);
@@ -3240,7 +3245,10 @@ void MainWindow::updateSelectSourceMenu()
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcVideo ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoImages);
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoImages ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoVideo ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRGBDImages
);
_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_PCL);
@@ -3253,6 +3261,8 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionFreenect2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect2);
_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
_ui->actionStereoUsb->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoUsb);
}
void MainWindow::changeImgRateSetting()
@@ -4449,7 +4459,15 @@ void MainWindow::selectStereoFlyCapture2()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFlyCapture2);
}
void MainWindow::selectStereoZed()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed);
}
void MainWindow::selectStereoUsb()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoUsb);
}
void MainWindow::dumpTheMemory()
{
@@ -5089,7 +5107,8 @@ void MainWindow::exportClouds()
_currentMapIds,
_cachedSignatures,
_createdClouds,
_preferencesDialog->getWorkingDirectory());
_preferencesDialog->getWorkingDirectory(),
_preferencesDialog->getAllParameters());
}
void MainWindow::viewClouds()
@@ -5104,7 +5123,8 @@ void MainWindow::viewClouds()
_currentMapIds,
_cachedSignatures,
_createdClouds,
_preferencesDialog->getWorkingDirectory());
_preferencesDialog->getWorkingDirectory(),
_preferencesDialog->getAllParameters());
}
guilib/src/OdometryViewer.cpp
+12 -3
View File
@@ -49,7 +49,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, float maxDepth, int qualityWarningThr, QWidget * parent) :
OdometryViewer::OdometryViewer(
int maxClouds,
int decimation,
float voxelSize,
float maxDepth,
int qualityWarningThr,
QWidget * parent,
const ParametersMap & parameters) :
QDialog(parent),
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
@@ -59,7 +66,8 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, f
lastOdomPose_(Transform::getIdentity()),
qualityWarningThr_(qualityWarningThr),
id_(0),
validDecimationValue_(1)
validDecimationValue_(1),
parameters_(parameters)
{
qRegisterMetaType<rtabmap::OdometryEvent>("rtabmap::OdometryEvent");
@@ -241,7 +249,8 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
validDecimationValue_,
0,
0,
validIndices.get());
validIndices.get(),
parameters_);
if(voxelSpin_->value())
{
guilib/src/PreferencesDialog.cpp
+44 -6
View File
@@ -237,6 +237,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraStereo->setItemData(1, 0, Qt::UserRole - 1);
}
if (!CameraStereoZed::available())
{
_ui->comboBox_cameraRGBD->setItemData(7, 0, Qt::UserRole - 1);
_ui->comboBox_cameraStereo->setItemData(4, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -466,6 +471,8 @@ 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->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1271,6 +1278,7 @@ 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->checkBox_cameraImages_timestamps->setChecked(false);
_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
@@ -1595,6 +1603,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->checkBox_stereoVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoVideo_rectify->isChecked()).toBool());
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
_ui->checkBox_stereoZed_computeDisparity->setChecked(settings.value("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked()).toBool());
settings.endGroup(); // StereoZed
settings.beginGroup("Images");
_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
@@ -1979,6 +1992,12 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("rectify", _ui->checkBox_stereoVideo_rectify->isChecked());
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
settings.setValue("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked());
settings.endGroup(); // StereoZed
settings.beginGroup("Images");
settings.setValue("path", _ui->source_images_lineEdit_path->text());
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
@@ -2556,17 +2575,16 @@ void PreferencesDialog::selectSourceDriver(Src src)
else if(src >= kSrcStereo && src<kSrcRGB)
{
_ui->comboBox_sourceType->setCurrentIndex(1);
_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcStereo);
_ui->comboBox_cameraStereo->setCurrentIndex(src - kSrcStereo);
}
else if(src >= kSrcRGB && src<kSrcDatabase)
{
_ui->comboBox_sourceType->setCurrentIndex(2);
_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcRGB);
_ui->source_comboBox_image_type->setCurrentIndex(src - kSrcRGB);
}
else if(src >= kSrcDatabase)
{
_ui->comboBox_sourceType->setCurrentIndex(3);
_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcDatabase);
}
if(validateForm())
@@ -3427,8 +3445,13 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->groupBox_cameraRGBDImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD);
_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD);
_ui->stackedWidget_stereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && (_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo));
_ui->stackedWidget_stereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 &&
(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo));
_ui->groupBox_cameraStereoImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo);
_ui->groupBox_cameraStereoVideo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo);
_ui->groupBox_cameraStereoZed->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo);
_ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && (_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB || _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB));
_ui->source_groupBox_images->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB);
@@ -3948,6 +3971,13 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
}
else if (driver == kSrcStereoUsb)
{
camera = new CameraStereoVideo(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if(driver == kSrcStereoVideo)
{
camera = new CameraStereoVideo(
@@ -3956,6 +3986,13 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if (driver == kSrcStereoZed)
{
camera = new CameraStereoZed(
_ui->checkBox_stereoZed_computeDisparity->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if(driver == kSrcUsbDevice)
{
camera = new CameraVideo(
@@ -4219,7 +4256,8 @@ void PreferencesDialog::testOdometry()
0.0f,
_ui->doubleSpinBox_maxDepth_odom->value(),
this->getOdomQualityWarnThr(),
this);
this,
this->getAllParameters());
odomViewer->setWindowTitle(tr("Odometry viewer"));
odomViewer->resize(1280, 480+QPushButton().minimumHeight());
odomViewer->registerToEventsManager();
@@ -4269,7 +4307,7 @@ void PreferencesDialog::testOdometry()
void PreferencesDialog::testCamera()
{
CameraViewer * window = new CameraViewer(this);
CameraViewer * window = new CameraViewer(this, this->getAllParameters());
window->setWindowTitle(tr("Camera viewer"));
window->resize(1280, 480+QPushButton().minimumHeight());
window->registerToEventsManager();
guilib/src/images/zed.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 2.6 KiB

guilib/src/ui/mainWindow.ui
+31 -3
View File
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>711</height>
<height>712</height>
</rect>
</property>
<property name="windowTitle">
@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>25</height>
<height>21</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -190,7 +190,19 @@
<addaction name="actionStereoDC1394"/>
<addaction name="actionStereoFlyCapture2"/>
</widget>
<widget class="QMenu" name="menuZed_camera">
<property name="title">
<string>Zed camera</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/zed.png</normaloff>:/images/zed.png</iconset>
</property>
<addaction name="actionStereoZed"/>
<addaction name="actionStereoUsb"/>
</widget>
<addaction name="menuBumblebee2_2"/>
<addaction name="menuZed_camera"/>
</widget>
<addaction name="menuRGB_D_camera"/>
<addaction name="menuStereo_camera"/>
@@ -1325,7 +1337,7 @@
<bool>true</bool>
</property>
<property name="text">
<string>More options...</string>
<string>More Options...</string>
</property>
</action>
<action name="actionLabel_current_location">
@@ -1391,6 +1403,22 @@
<string>Anchor clouds to ground truth</string>
</property>
</action>
<action name="actionStereoZed">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Zed sdk</string>
</property>
</action>
<action name="actionStereoUsb">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Stereo Usb Camera</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
guilib/src/ui/preferencesDialog.ui
+166 -20
View File
@@ -64,15 +64,24 @@
<rect>
<x>0</x>
<y>0</y>
<width>686</width>
<height>2023</height>
<width>685</width>
<height>1826</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -86,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>11</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2006,7 +2015,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>3</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2182,7 +2191,7 @@ 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>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2199,7 +2208,7 @@ 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>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2216,7 +2225,7 @@ 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>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2730,7 +2739,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QLabel" name="label_46">
<property name="text">
<string>Grabber for stereo devices (i.e., Bumblebee2).</string>
<string>Grabber for stereo devices (i.e., Bumblebee2, Zed camera).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -2764,6 +2773,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Video (Side-by-Side)</string>
</property>
</item>
<item>
<property name="text">
<string>ZED sdk</string>
</property>
</item>
<item>
<property name="text">
<string>Usb camera (Side-by-Side)</string>
</property>
</item>
</widget>
</item>
<item row="0" column="2">
@@ -2798,7 +2817,7 @@ 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>3</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">
@@ -2810,7 +2829,7 @@ 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>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2827,7 +2846,7 @@ 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>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2943,7 +2962,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<widget class="QWidget" name="page_50">
<layout class="QVBoxLayout" name="verticalLayout_78">
<item>
<widget class="QGroupBox" name="groupBox_cameraStereoImages_2">
<widget class="QGroupBox" name="groupBox_cameraStereoVideo">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
@@ -3006,6 +3025,79 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</widget>
<widget class="QWidget" name="page_59">
<layout class="QVBoxLayout" name="verticalLayout_101">
<item>
<widget class="QGroupBox" name="groupBox_cameraStereoZed">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<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">
<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>
<spacer name="verticalSpacer_54">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_60">
<layout class="QVBoxLayout" name="verticalLayout_103">
<item>
<spacer name="verticalSpacer_53">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>217</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
@@ -3069,7 +3161,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_image">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_7">
<layout class="QVBoxLayout" name="verticalLayout_30">
@@ -3422,7 +3514,16 @@ 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="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -8579,7 +8680,16 @@ 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="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -8719,7 +8829,16 @@ 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="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -8877,7 +8996,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -8957,7 +9085,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -9069,7 +9206,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
tools/CameraRGBD/main.cpp
+12 -2
View File
@@ -53,6 +53,7 @@ void showUsage()
" 5=Freenect2 (Kinect v2)\n"
" 6=DC1394 (Bumblebee2)\n"
" 7=FlyCapture2 (Bumblebee2)\n"
" 8=ZED stereo\n"
" Options:\n"
" -rate #.# Input rate Hz (default 0=inf)\n"
" -save_stereo \"path\" Save stereo images in a folder or a video file (side by side *.avi).\n"
@@ -149,9 +150,9 @@ int main(int argc, char * argv[])
// last
driver = atoi(argv[i]);
if(driver < 0 || driver > 7)
if(driver < 0 || driver > 8)
{
UERROR("driver should be between 0 and 6.");
UERROR("driver should be between 0 and 8.");
showUsage();
}
}
@@ -235,6 +236,15 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraStereoFlyCapture2();
}
else if(driver == 8)
{
if(!rtabmap::CameraStereoZed::available())
{
UERROR("Not built with ZED sdk support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZed(true);
}
else
{
UFATAL("");