0.11.7: Added ZED sdk support

CMakeLists.txt

@@ -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)
@@ -265,6 +266,35 @@ IF(WITH_CVSBA)
     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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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();
@@ -749,20 +749,23 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 		return false;
 	}
 	else
+	{
+		if (_guid.empty())
 		{
 			unsigned int guid = (unsigned int)_capture.get(CV_CAP_PROP_GUID);
-		if(guid != 0 && guid != 0xffffffff)
+			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

@@ -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());
+
+	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
+		if (cameraName_.empty())
-		cameraName_ = cameraName;
-		if(!calibrationFolder.empty() && !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

@@ -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

@@ -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

@@ -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);
+	StereoBM stereo(parameters);
-	stereo.state->SADWindowSize = 15;
+	return stereo.computeDisparity(leftMono, rightImage);
-	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;
 }
 
 cv::Mat depthFromDisparity(const cv::Mat & disparity,

corelib/src/util3d.cpp

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -96,6 +96,8 @@ public:
 		kSrcFlyCapture2    = 101,
 		kSrcStereoImages   = 102,
 		kSrcStereoVideo    = 103,
+		kSrcStereoZed      = 104,
+		kSrcStereoUsb      = 105,
 
 		kSrcRGB            = 200,
 		kSrcUsbDevice      = 200,

guilib/src/CameraViewer.cpp

@@ -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

@@ -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

@@ -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

@@ -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

@@ -30,5 +30,6 @@
         <file>images/xtion_pro_live.png</file>
         <file>images/bumblebee2.png</file>
 	    <file>images/webcam.png</file>
+		<file>images/zed.png</file>
     </qresource>
 </RCC>

guilib/src/LoopClosureViewer.cpp

@@ -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);
+			cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth, 0, parameters);
-			cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth);
+			cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth, 0, parameters);
 
 			//cloud 2d
 			pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;

guilib/src/MainWindow.cpp

@@ -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

@@ -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

@@ -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/ui/mainWindow.ui

@@ -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

@@ -64,15 +64,24 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>686</width>
+            <width>685</width>
-            <height>2023</height>
+            <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

@@ -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("");