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Added CameraRealsSense2 driver (tested only with D435)

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matlabbe
2018-06-15 12:24:00 -04:00
parent dfcd7ae1a8
commit 2060e0b1da
7 changed files with 468 additions and 7 deletions
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52
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -48,6 +48,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#endif
#endif
#ifdef RTABMAP_REALSENSE2
#include <librealsense2/rs.hpp>
#endif
#include <boost/signals2/connection.hpp>
namespace openni
@@ -409,6 +413,54 @@ private:
USemaphore dataReady_;
#endif
};
/////////////////////////
// CameraRealSense
/////////////////////////
class slam_event_handler;
class RTABMAP_EXP CameraRealSense2 :
public Camera
{
public:
static bool available();
public:
// default local transform z in, x right, y down));
CameraRealSense2(
int deviceId = 0,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_REALSENSE2
void alignFrame(const rs2_intrinsics& from_intrin,
const rs2_intrinsics& other_intrin,
rs2::frame from_image,
uint32_t output_image_bytes_per_pixel,
const rs2_extrinsics& from_to_other,
cv::Mat & registeredDepth);
rs2::context ctx_;
rs2::device dev_;
int deviceId_;
rs2::syncer syncer_;
float depth_scale_meters_;
rs2_intrinsics depthIntrinsics_;
rs2_intrinsics rgbIntrinsics_;
rs2_extrinsics depthToRGBExtrinsics_;
cv::Mat depthBuffer_;
cv::Mat rgbBuffer_;
CameraModel model_;
#endif
};
/////////////////////////