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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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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);