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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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14
tools/CameraRGBD/main.cpp
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@@ -56,6 +56,7 @@ void showUsage()
" 8=ZED stereo\n"
" 9=RealSense\n"
" 10=Kinect for Windows 2 SDK\n"
" 11=RealSense2\n"
" Options:\n"
" -rate #.# Input rate Hz (default 0=inf)\n"
" -save_stereo \"path\" Save stereo images in a folder or a video file (side by side *.avi).\n"
@@ -152,9 +153,9 @@ int main(int argc, char * argv[])
// last
driver = atoi(argv[i]);
if(driver < 0 || driver > 10)
if(driver < 0 || driver > 11)
{
UERROR("driver should be between 0 and 10.");
UERROR("driver should be between 0 and 11.");
showUsage();
}
}
@@ -265,6 +266,15 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraK4W2(0);
}
else if (driver == 11)
{
if (!rtabmap::CameraRealSense2::available())
{
UERROR("Not built with RealSense2 SDK support...");
exit(-1);
}
camera = new rtabmap::CameraRealSense2(0);
}
else
{
UFATAL("");