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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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ZED SDK 3.0 breaks the compilation #499

Closed lazydroid closed 4 years ago

lazydroid commented 4 years ago

Recently (last week) released SDK for ZED cameras from Stereolabs breaks the compilation because of newly introduced types and changes in the namespace. SDK 2.8.* works fine, but does not support the new ZED2 camera.

lazydroid commented 4 years ago

I have made the changes to ZED related file that allow RTABMap to get compiled with ZED SDK 3.0 and it works with ZED 2 camera, though the calibration might be a bit off. Attaching the file if anyone is interested.

https://www.stereolabs.com/developers/release/3.0/migration-guide/

CameraStereoZed.cpp.zip

matlabbe commented 4 years ago

See pull request #501 and test it. I'll close this issue in the meantime, feel free to comment if the pull request is not working for you.

lazydroid commented 4 years ago

Your code fails to compile because the arguments of RuntimeParameters have changed :

rtabmap/corelib/src/camera/CameraStereoZed.cpp:545:121: error: no matching function for call to ‘sl::RuntimeParameters::RuntimeParameters(sl::SENSING_MODE, bool, bool, sl::REFERENCE_FRAME)’
matlabbe commented 4 years ago

The commit above should fix the problem, thx for testing it!

lazydroid commented 4 years ago

It compiles and works now, thank you very much for your support!!