From 70da8d26c0be555f5b9a9526ac30fe4caec3f67d Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 23 Jun 2016 15:40:11 -0400
Subject: [PATCH] Fixed build with ZED SDK 1.0.0 (#85)

---
 corelib/src/CameraStereo.cpp       | 31 +++++-----
 guilib/src/ui/preferencesDialog.ui | 92 ++++++++++++++++++++++++++----
 2 files changed, 98 insertions(+), 25 deletions(-)

diff --git a/corelib/src/CameraStereo.cpp b/corelib/src/CameraStereo.cpp
index 8389079c..5496e899 100644
--- a/corelib/src/CameraStereo.cpp
+++ b/corelib/src/CameraStereo.cpp
@@ -766,9 +766,9 @@ CameraStereoZed::CameraStereoZed(
 	confidenceThr_(confidenceThr)
 {
 #ifdef RTABMAP_ZED
-	UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <=sl::zed::VGA);
-	UASSERT(quality_ >= sl::zed::NONE && quality_ <=sl::zed::QUALITY);
-	UASSERT(sensingMode_ >= sl::zed::FULL && sensingMode_ <=sl::zed::RAW);
+	UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
+	UASSERT(quality_ >= sl::zed::NONE && quality_ <sl::zed::LAST_MODE);
+	UASSERT(sensingMode_ >= sl::zed::FILL && sensingMode_ <sl::zed::LAST_SENSING_MODE);
 	UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
 #endif
 }
@@ -791,9 +791,9 @@ CameraStereoZed::CameraStereoZed(
 	confidenceThr_(confidenceThr)
 {
 #ifdef RTABMAP_ZED
-	UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <=sl::zed::VGA);
-	UASSERT(quality_ >= sl::zed::NONE && quality_ <=sl::zed::QUALITY);
-	UASSERT(sensingMode_ >= sl::zed::FULL && sensingMode_ <=sl::zed::RAW);
+	UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
+	UASSERT(quality_ >= sl::zed::NONE && quality_ <sl::zed::LAST_MODE);
+	UASSERT(sensingMode_ >= sl::zed::FILL && sensingMode_ <sl::zed::LAST_SENSING_MODE);
 	UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
 #endif
 }
@@ -835,11 +835,17 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 		}
 	}
 
-	//init WITH self-calibration (- last parameter to false -)
-	sl::zed::ERRCODE err = zed_->init(
-			(sl::zed::MODE)quality_,
-			-1, // search for any GPU
-			true, false, false);
+	//init WITH self-calibration
+	sl::zed::InitParams parameters(
+		(sl::zed::MODE)quality_, //MODE
+		sl::zed::METER,  //UNIT
+		sl::zed::IMAGE,  //COORDINATE_SYSTEM
+		false,  // verbose
+		-1,     //device
+		-1.,    //minDist
+		false,  //disableSelfCalib
+		false); //vflip
+	sl::zed::ERRCODE err = zed_->init(parameters);
 
 	// Quit if an error occurred
 	if (err != sl::zed::SUCCESS)
@@ -860,7 +866,7 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 		stereoParams->LeftCam.fy, 
 		stereoParams->LeftCam.cx, 
 		stereoParams->LeftCam.cy, 
-		stereoParams->baseline/1000.0f,
+		stereoParams->baseline,
 		this->getLocalTransform(),
 		cv::Size(res.width, res.height));
 
@@ -913,7 +919,6 @@ SensorData CameraStereoZed::captureImage()
 				// get depth image
 				cv::Mat depth;
 				slMat2cvMat(zed_->retrieveMeasure(sl::zed::MEASURE::DEPTH)).copyTo(depth);
-				depth /= 1000.0; // to meters
 
 				data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), UTimer::now());
 			}
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index 283baa0c..ab88247e 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,16 +63,25 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-477</y>
-            <width>686</width>
-            <height>2023</height>
+            <y>-265</y>
+            <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>
@@ -3034,12 +3043,12 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                    <widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
                                     <item>
                                      <property name="text">
-                                      <string>FULL</string>
+                                      <string>FILL</string>
                                      </property>
                                     </item>
                                     <item>
                                      <property name="text">
-                                      <string>RAW</string>
+                                      <string>STANDARD</string>
                                      </property>
                                     </item>
                                    </widget>
@@ -3111,6 +3120,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                       <string>PERFORMANCE</string>
                                      </property>
                                     </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>MEDIUM</string>
+                                     </property>
+                                    </item>
                                     <item>
                                      <property name="text">
                                       <string>QUALITY</string>
@@ -3628,7 +3642,16 @@ 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>
@@ -8785,7 +8808,16 @@ 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>
@@ -8925,7 +8957,16 @@ 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>
@@ -9083,7 +9124,16 @@ 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>
@@ -9163,7 +9213,16 @@ 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>
@@ -9275,7 +9334,16 @@ 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>