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CameraRealSense2: Updated how D435i timestamp issue is handled (see also https://github.com/IntelRealSense/librealsense/issues/4505)

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matlabbe
2019-10-25 18:21:40 -04:00
parent 79ad8dc4be
commit 260192bcc4
2 changed files with 28 additions and 32 deletions
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corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -117,9 +117,8 @@ private:
std::map<double, std::pair<Transform, unsigned int> > poseBuffer_; // <stamp, <Pose, confidence: 1=lost, 2=low, 3=high> >
UMutex poseMutex_;
UMutex imuMutex_;
double hostStartStamp_;
double cameraStartStamp_;
double lastImuStamp_;
bool clockSyncWarningShown_;
bool emitterEnabled_;
bool ir_;