i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

CameraRealSense2: added support for device id like D435, t265, L515, d435i, d415 for convenience (if we have multiple D435, we still need to use on of the serials shown in log info when starting the driver)

Browse Source
This commit is contained in:
matlabbe
2021-06-01 11:40:46 -04:00
parent c9dbe6205d
commit 12c46286f6
2 changed files with 7 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
corelib/src/camera/CameraRealSense2.cpp
View File

@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UStl.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_REALSENSE2
@@ -506,12 +507,13 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
{
auto sn = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
auto pid_str = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID);
auto name = dev.get_info(RS2_CAMERA_INFO_NAME);
uint16_t pid;
std::stringstream ss;
ss << std::hex << pid_str;
ss >> pid;
UINFO("Device with serial number %s was found with product ID=%d.", sn, (int)pid);
UINFO("Device \"%s\" with serial number %s was found with product ID=%d.", name, sn, (int)pid);
if(dualMode_ && pid == 0x0B37)
{
// Dual setup: device[0] = D400, device[1] = T265
@@ -519,7 +521,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
dev_.resize(2);
dev_[1] = dev;
}
else if (!found && (deviceId_.empty() || deviceId_ == sn))
else if (!found && (deviceId_.empty() || deviceId_ == sn || uStrContains(name, uToUpperCase(deviceId_))))
{
if(dev_.empty())
{
@@ -601,13 +603,12 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
}
});
auto sn = dev_[0].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
UINFO("Using device with Serial No: %s", sn);
auto camera_name = dev_[0].get_info(RS2_CAMERA_INFO_NAME);
UINFO("Device Name: %s", camera_name);
auto sn = dev_[0].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
UINFO("Device Serial No: %s", sn);
auto fw_ver = dev_[0].get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION);
UINFO("Device FW version: %s", fw_ver);