i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).

Browse Source
This commit is contained in:
matlabbe
2019-09-13 21:45:13 -04:00
parent bdc8d839ff
commit 350d3cd85f
13 changed files with 182 additions and 99 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
corelib/src/camera/CameraRealSense2.cpp
View File

@@ -614,7 +614,14 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
video_profile.height() == cameraHeight_ &&
video_profile.fps() == cameraFps_)
{
profilesPerSensor[irDepth_?1:i].push_back(profile);
if(irDepth_ && i==0)
{
profilesPerSensor[1].push_back(profile.clone(profile.stream_type(), 1, profile.format()));
}
else
{
profilesPerSensor[i].push_back(profile);
}
auto intrinsic = video_profile.get_intrinsics();
if(i==1)
{
@@ -734,7 +741,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
}
else
{
// look for calibration files
std::string serial = sn;
if(!cameraName.empty())