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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/MainWindow.cpp
+27 -7
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@@ -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());
}