Update for 2.4.0

stereolabs · Apr 24, 2018 · a02825a · a02825a
1 parent d6d22d5
commit a02825a
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Showing 2 changed files with 55 additions and 56 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -10,30 +10,28 @@ endif(COMMAND cmake_policy)
 SET(EXECUTABLE_OUTPUT_PATH ".")
 
 find_package(ZED 2 REQUIRED)
-find_package(CUDA REQUIRED)
-find_package(PCL)
+find_package(CUDA ${ZED_CUDA_VERSION} EXACT REQUIRED)
+find_package(PCL REQUIRED)
 
 if(PCL_FOUND)
-	include_directories(${CUDA_INCLUDE_DIRS})
-	include_directories(${PCL_INCLUDE_DIRS})
-	include_directories(${ZED_INCLUDE_DIRS})
-	include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
-
-	link_directories(${ZED_LIBRARY_DIR})
-	link_directories(${CUDA_LIBRARY_DIRS})
-	link_directories(${PCL_LIBRARY_DIRS})
-
-	FILE(GLOB_RECURSE SRC_FILES src/*.cpp) 
-	ADD_EXECUTABLE(${execName} ${SRC_FILES})
-
-	add_definitions(-std=c++11 -g -O3)
-	list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4") ## needed if you install pcl from repo (and libproj-dev)
-
-	TARGET_LINK_LIBRARIES(${execName}
-		                ${ZED_LIBRARIES}
-		                ${OpenCV_LIBRARIES}
-		                ${PCL_LIBRARIES}
-		                ${CUDA_LIBRARIES} ${CUDA_npps_LIBRARY} ${CUDA_NPP_LIBRARIES_ZED} )
-else()
-	message(WARNING "PCL not found, sample not build")
+    include_directories(${CUDA_INCLUDE_DIRS})
+    include_directories(${PCL_INCLUDE_DIRS})
+    include_directories(${ZED_INCLUDE_DIRS})
+    include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+
+    link_directories(${ZED_LIBRARY_DIR})
+    link_directories(${CUDA_LIBRARY_DIRS})
+    link_directories(${PCL_LIBRARY_DIRS})
+
+    FILE(GLOB_RECURSE SRC_FILES src/*.cpp) 
+    ADD_EXECUTABLE(${execName} ${SRC_FILES})
+
+    add_definitions(-std=c++11 -g -O3)
+    list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4") ## needed if you install pcl from repo (and libproj-dev)
+
+    TARGET_LINK_LIBRARIES(${execName}
+                            ${ZED_LIBRARIES}
+                            ${OpenCV_LIBRARIES}
+                            ${PCL_LIBRARIES}
+                            ${CUDA_LIBRARIES} ${CUDA_npps_LIBRARY} ${CUDA_NPP_LIBRARIES_ZED} )
 endif()
diff --git a/src/main.cpp b/src/main.cpp
@@ -23,7 +23,7 @@
  ************************************************************************************/
 
 // ZED includes
-#include <sl/Camera.hpp>
+#include <sl_zed/Camera.hpp>
 
 // PCL includes
 // Undef on Win32 min/max for PCL
@@ -58,27 +58,30 @@ shared_ptr<pcl::visualization::PCLVisualizer> createRGBVisualizer(pcl::PointClou
 inline float convertColor(float colorIn);
 
 // Main process
-int main(int argc, char **argv){
 
-    if (argc > 2)
-    {
+int main(int argc, char **argv) {
+
+    if (argc > 2) {
         cout << "Only the path of a SVO can be passed in arg" << endl;
         return -1;
     }
 
     // Set configuration parameters
     InitParameters init_params;
-    init_params.camera_resolution = RESOLUTION_HD1080;
     if (argc == 2)
         init_params.svo_input_filename = argv[1];
+    else {
+        init_params.camera_resolution = RESOLUTION_VGA;
+        init_params.camera_fps = 30;
+    }
     init_params.coordinate_units = UNIT_METER;
     init_params.coordinate_system = COORDINATE_SYSTEM_RIGHT_HANDED_Y_UP;
     init_params.depth_mode = DEPTH_MODE_PERFORMANCE;
 
     // Open the camera
     ERROR_CODE err = zed.open(init_params);
     if (err != SUCCESS) {
-        cout << errorCode2str(err) << endl;
+        cout << toString(err) << endl;
         zed.close();
         return 1;
     }
@@ -118,7 +121,7 @@ int main(int argc, char **argv){
             // Unlock data and update Point cloud
             mutex_input.unlock();
             viewer->updatePointCloud(p_pcl_point_cloud);
-            viewer->spinOnce(15);
+            viewer->spinOnce(10);
         } else
             sleep_ms(1);
     }
@@ -133,9 +136,9 @@ int main(int argc, char **argv){
 }
 
 /**
-*  This functions start the ZED's thread that grab images and data.
-**/
-void startZED(){
+ *  This functions start the ZED's thread that grab images and data.
+ **/
+void startZED() {
     // Start the thread for grabbing ZED data
     stop_signal = false;
     has_data = false;
@@ -147,36 +150,34 @@ void startZED(){
 }
 
 /**
-*  This function loops to get the point cloud from the ZED. It can be considered as a callback.
-**/
-void run(){
-    while (!stop_signal)
-    {
-        if (zed.grab(SENSING_MODE_STANDARD) == SUCCESS)
-        {
+ *  This function loops to get the point cloud from the ZED. It can be considered as a callback.
+ **/
+void run() {
+    while (!stop_signal) {
+        if (zed.grab(SENSING_MODE_STANDARD) == SUCCESS) {
             mutex_input.lock(); // To prevent from data corruption
             zed.retrieveMeasure(data_cloud, MEASURE_XYZRGBA);
             mutex_input.unlock();
             has_data = true;
-        }
-        sleep_ms(1);
+        } else
+            sleep_ms(1);
     }
 }
 
 /**
-*  This function frees and close the ZED, its callback(thread) and the viewer
-**/
-void closeZED(){
+ *  This function frees and close the ZED, its callback(thread) and the viewer
+ **/
+void closeZED() {
     // Stop the thread
     stop_signal = true;
     zed_callback.join();
     zed.close();
 }
 
 /**
-*  This function creates a PCL visualizer
-**/
-shared_ptr<pcl::visualization::PCLVisualizer> createRGBVisualizer(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud){
+ *  This function creates a PCL visualizer
+ **/
+shared_ptr<pcl::visualization::PCLVisualizer> createRGBVisualizer(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud) {
     // Open 3D viewer and add point cloud
     shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("PCL ZED 3D Viewer"));
     viewer->setBackgroundColor(0.12, 0.12, 0.12);
@@ -189,11 +190,11 @@ shared_ptr<pcl::visualization::PCLVisualizer> createRGBVisualizer(pcl::PointClou
 }
 
 /**
-*  This function convert a RGBA color packed into a packed RGBA PCL compatible format
-**/
-inline float convertColor(float colorIn){
-    uint32_t color_uint = *(uint32_t *)&colorIn;
-    unsigned char *color_uchar = (unsigned char *)&color_uint;
-    color_uint = ((uint32_t)color_uchar[0] << 16 | (uint32_t)color_uchar[1] << 8 | (uint32_t)color_uchar[2]);
-    return *reinterpret_cast<float *>(&color_uint);
+ *  This function convert a RGBA color packed into a packed RGBA PCL compatible format
+ **/
+inline float convertColor(float colorIn) {
+    uint32_t color_uint = *(uint32_t *) & colorIn;
+    unsigned char *color_uchar = (unsigned char *) &color_uint;
+    color_uint = ((uint32_t) color_uchar[0] << 16 | (uint32_t) color_uchar[1] << 8 | (uint32_t) color_uchar[2]);
+    return *reinterpret_cast<float *> (&color_uint);
 }