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Added CameraRealsSense2 driver (tested only with D435)

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This commit is contained in:
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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15
examples/RGBDMapping/main.cpp
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@@ -46,7 +46,7 @@ void showUsage()
{
printf("\nUsage:\n"
"rtabmap-rgbd_mapping driver\n"
" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS, 5=Freenect2, 6=ZED SDK, 7=RealSense\n\n");
" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS, 5=Freenect2, 6=ZED SDK, 7=RealSense, 8=RealSense2\n\n");
exit(1);
}
@@ -64,9 +64,9 @@ int main(int argc, char * argv[])
else
{
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 7)
if(driver < 0 || driver > 8)
{
UERROR("driver should be between 0 and 7.");
UERROR("driver should be between 0 and 8.");
showUsage();
}
}
@@ -141,6 +141,15 @@ int main(int argc, char * argv[])
}
camera = new CameraRealSense(0, 0, 0, false, 0, opticalRotation);
}
else if (driver == 8)
{
if (!CameraRealSense2::available())
{
UERROR("Not built with RealSense2 support...");
exit(-1);
}
camera = new CameraRealSense2(0, 0, opticalRotation);
}
else
{
camera = new rtabmap::CameraOpenni("", 0, opticalRotation);