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Added OSF file support. Added ability to pause lidar capture if from file. Updated Preferences->"test odometry" button to support lidar only or both.

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This commit is contained in:
matlabbe
2024-08-24 20:23:38 -07:00
parent fc61efbc47
commit 29f0565b5c
7 changed files with 272 additions and 166 deletions
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18
corelib/include/rtabmap/core/lidar/LidarOuster.h
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@@ -38,22 +38,14 @@ public:
static bool available();
public:
LidarOuster(
const std::string& sensorHostname,
const std::string& ipOrHostnameOrPcapOrOsf,
const std::string& dataDestinationOrJson = "",
int lidarMode = 0,
int timestampMode = 0,
const std::string& dataDestination = 0,
bool useReflectivityForIntensityChannel = true,
bool publishIMU = false,
float frameRate = 0.0f,
Transform localTransform = Transform::getIdentity());
LidarOuster(
const std::string& pcapFile,
const std::string& jsonFile,
bool useReflectivityForIntensityChannel = true,
bool publishIMU = false,
float frameRate = 0.0f,
Transform localTransform = Transform::getIdentity());
virtual ~LidarOuster();
SensorData takeScan(SensorCaptureInfo * info = 0) {return takeData(info);}
@@ -68,10 +60,8 @@ private:
OusterCaptureThread * ousterCaptureThread_;
bool imuPublished_;
bool useReflectivityForIntensityChannel_;
std::string pcapFile_;
std::string jsonFile_;
std::string sensorHostname_;
std::string dataDestination_;
std::string ipOrHostnameOrPcapOrOsf_;
std::string dataDestinationOrJson_;
int lidarMode_;
int timestampMode_;