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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
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corelib/src/util3d.cpp
+10 -6
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@@ -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())
{